机器人作业参考1介绍.docVIP

机器人机构分析与综合 移动抓取机器人的设计和研究 姓名：指导教师esearch of Moving and fetching Robot Name: Class: Student number: Supervisor: 摘 要 当前，随着人类活动范围的扩展和实际应用的需要，移动机器人的活动范围已从单一的结构化环境向复杂的非结构化环境延伸。深入开展复合式移动机器人系统及其关键技术的研究具有十分重要的理论和实际意义。 在移动抓取机器人的设计中，本人进行了机械结构设计与机器人电路设计。在机械设计中，完成了机器人原理方案的构思与拟定、结构设计、材料选择、尺寸确定。在机器人的移动模块结构设计中,提出了一种能实现快速定位的三角形底盘结构形式；从动力学角度，对抓取机构的电机选取、升降形式进行了多次改进设计；在控制电路的设计制作中，精简了控制变量数目，优化了控制器结构，使机器人 控制更便捷、高效。机器人的设计与制作过程，采用了CAD/CAE方法，从功能原理设计到实用化设计，以及绘制图纸、结构分析和运动仿真都使用计算机软件进行，大大提高了设计与制作的效率。 关键词: 机器人; 机械设计; 移动抓取 ABSTRACT At currently, with expansion of human being’s moving scope and requirement of practical application, moving scope of moving robot extended from simple structuring circumstance to complex non-structuring circumstance. Profound research of combined type moving automaton system and its key technique will have very important theory and practice meaning. In the process of the moving and fetching robot’s design, I have taken charge of the mechanical structure’s design and the design the circuit. In mechanical structure’s design, I have finished the whole processes of the conception of the robot’s blue print, the design of configuration, the choice of material, confirmation of dimension. In the design of the moving module, I have put forward a triangle chassis structure which can achieve the orientation fast. In the point of dynamics, I have designed and modified many times of the choice of motor for the structure of nipping and fetching, and the form of up and down. In the process of the controlling circuit’s design, I have reduced the number of controlling variable, optimized the structure of controller, so that the control of the robots was more convenient and efficient. I have adopted the method of CAD/CAE to design the robots. The design from the functional principle to the design of utility, and the drawing’s protracting, the analysis of structure and the simulation of moving are programmed