目录 

1. 绪论.........................................................................................................................1 

1.1 课题来源.........................................................................................................1 1.2 课题目的.........................................................................................................1 1.3 课题意义.........................................................................................................1 1.4 国内外研究现状与发展趋势..........................................................................3 1.5 研究内容.........................................................................................................4 1.6 研究方案.........................................................................................................5 2. 系统机械部分设计 ..............................................................................................6 

2.1 机械部分工作原理.........................................................................................6 2.2 转矩计算.........................................................................................................6 2.3 电机选型.........................................................................................................7 2.4 减速器设计...................................................................................................12 2.5 轴的结构设计...............................................................................................17 2.6 齿轮设计.......................................................................................................18 3. 机械零件的校核及选用 ...................................................................................26 

3.1 联轴器的选用...............................................................................................26 3.2 轴承的分类及选用.......................................................................................26 3.3 键的分类及选用...........................................................................................27 4. 系统控制部分设计 ............................................................................................29 

4.1 单片机的选型...............................................................................................29 4.2 单片机外部接线设计....................................................................................30 4.3 单片机控制方案...........................................................................................31 5. 结论.......................................................................................................................34 

5.1 结论...............................................................................................................34 5.2 展望...............................................................................................................34