玻璃清洁机器人吸附机构设计(含全套说明书和CAD图纸)重点.doc

玻璃清洁机器人吸附机构设计  PAGE 16 题目： 玻璃清洁机器人吸附机构设计 摘 要 高楼玻璃幕墙清洗机器人是特种机器人的一个分支。它是基于壁面移动机器 人技术，并针对具体的作业对象，具有明确功能的实用机器人，其工作在垂直危 险的玻璃壁面，能够克服重力的作用，携带清洗设备，是面向现代高层建筑玻璃 外墙表面保洁、清洗服务的极限作业机器人。 论文首先对机器人总体方案进行介绍，提出了分层次规划的体系结构。在此基础上，对机器人总体结构进行了设计分析，并应用有关计算理论和计算软件进行了主要参数设计和关键部件的结构设计，讨论了机器人的作业路径,运动控制规划及吸附机构的设计，最后，应用Pro/ENG三维软件针对所设计的机器人建立了三维实体模型。 关键词:玻璃幕墙清洗，机器人，运动分析 ABSTRACT Glass-wall cleaning robot is one of robot for limited operation,which can walk on Vertical glass-wall with washing devices.It is a robot with specific applied functions,Based on wall-climbing robot techniques.for specific objects.And it works on vertical Glass-wall,where is dangerous for human beings.It is a robot could conquer the gravity effect and carry cleaning equipments,facing to glass-wall surface beautifying service of modern high-rise buildings. Firstly, the whole frame of the glass wall cleaning robot is introduced, and theLevel-based planning is discussed also. Based on this, the designing and analyzing Of the structure of the robot are described in details,the main parameters designing and structure designing of the key parts are also processed by using some of correlative calculating theories and soft .Then,mission-oriented and local motion planning are discussed.At last,three-dimensional model of the robot are established by Means of Pro/ENGINEER,soft. Key words:Glass-wallcleaning robotvacuum adsorption system 目录  TOC \o 1-3 \h \z \u  HYPERLINK \l _Toc230667899 摘 要  PAGEREF _Toc230667899 \h 2  HYPERLINK \l _Toc230667900 ABSTRACT  PAGEREF _Toc230667900 \h 2  HYPERLINK \l _Toc230667901 1前 言  PAGEREF _Toc230667901 \h 3  HYPERLINK \l _Toc230667902 2机器人总体方案规划  PAGEREF _Toc230667902 \h 4  HYPERLINK \l _Toc230667903 2.1 机器人设计思想  PAGEREF _Toc230667903 \h 4  HYPERLINK \l _Toc230667904 2.2外形尺寸选择  PAGEREF _Toc230667904 \h 6  HYPERLINK \l _Toc2306