iRobot Braava 拖地机器人的机械CAD图纸设计与仿真.doc

iRobot Braava 拖地机器人的设计与仿真 摘要 首先是iRobot Braava拖地机器人的结构设计，拖地机器人以其小巧的体积，紧凑的结构和灵活的运动，实现了多角度多方位的清洁效果。要实现其空间交错的传动方式，本文采用的是蜗轮蜗杆结构，并着重设计了这一传动机构，并利用Pro/e软件，对其进行了结构上的三维模拟仿真。同时，分析比较了机器人常用的传感系统和定位技术，研究了iRobot Braava的GPS定位系统与路径规划技术，实现其传感信号的回路，完成其避障系统的工作过程。 关键词：  Irobot Braava design and simulation Abstract In recent years, the robot industry attention more and more high, the development of it, has risen to the height of national strategy, countries have to look to the innovation and application of the robot, in order to occupy the favorable situation in the future of science and technology competition. This article first to iRobot Braava mop robot as the foundation, this paper introduces the development of service robots, comparative analysis the market characteristics of the existing service robot, for iRobot Braava emphasis and difficulty is studied. First is iRobot Braava mop the floor structure design of the robot, mop the floor robot for its small volume, compact structure and flexible movement, implements the multi-angle all-round cleaning effect. Interlaced transmission way to realize its space, this paper USES the worm gear and worm structure, and focus on the transmission mechanism design, and use Pro/e software, on the structure of three-dimensional simulation. Were compared and analyzed, and the robot sensor system and positioning technology, studied the iRobot Braava GPS positioning system and path planning technology, to achieve its sensing signal circuit, the working process of the complete its obstacle avoidance system. Key words ：iRobot Braava; 3D Modeling; Obstacle avoidance system; Path planning 目录 摘 要 I Abstract II 第1章 前 言 1 1.1 课题的研究背景 1 1.2 国外发展现状 2 1.3 国内发展现状 5 1.4 现有拖地机器人种类 6 1.5 研究意义 10 第2章 结构设计 11 2.1 机械结构组成 11 2.2电机的选择 14 2.3 蜗轮蜗杆的选择 15 第3章 机器人的控制及传感系统 19 3.1 机器人的运动分析 19 3.2 避障处理 21 3.3路径规划 23 第4章 三维建模及运动仿真 28 4.1 建模软件的介绍 28 4.2 3D零件的建立 28 4.3 装配模块 29 4.4 添加伺服电机 30 4.5仿真运动时间的设定 30 4.6 动画