微小型步行四杆机构的设计与研究.docVIP

毕业设计(论文) 微小型步行四杆机构的设计与研究 学 号： 姓 名： 专 业： 机械设计制造及其自动化 系 别： 机械工程系 指导教师： XXX 讲师 XXX 副教授 二○一五年四月摘 要 对于很多特殊地方，像危险性很大或我们难以到达的，如，等领域，对探需要机器人。步行机器人是机器人的一个重要分支，机器人超过六英尺，八条腿的机器人相比，由于承载能力强，稳定性好，具有结构简单的优点， 本文主要以四杆机构主要执行元件整体方案。，，它，当，地上， 关键词：微小型步行机器人；结构；四杆机构；曲柄摇杆ABSTRACT For a lot of special places, like the risk is very big, or we are difficult to reach, such as disarm bombs, unknown corresponding domains such as detection, probing deep of more dangerous situation usually need to implement the robot.It’s a main part of robot for micro pedipulator, walking robots and more than six feet, compared to the Eight Legged Robot, because of strong bearing capacity, good stability, which the meritss is simple construction, So, a large number of researchers around the world, start generally attach importance. This paper mainly to the four bar mechanism as the main execution elements to design of micro walking the whole scheme of the four bar mechanism. Its principle is diagonal synchronization, leg activity by the structure of the crank rocker, front leg movements around the same, it detailed performance curve characteristics of the connecting rod,when the curve trajectory diagonal straight line segment, the robot is stationary, the motion trajectory when the diagonal curve is slanting line do the walking motion, robot. The miniature walking robot is mainly driven by DC servo motor, so as to drive the leg action driven synchronous belt wheel by a crank and rocker mechanism. Key word: Micro walking robot；construction；four-bar linkage；crank-rocker 目 录 摘 要 i ABSTRACT ii 目 录 iii 1 绪论 1 1.1课题来历与研究的目的以及意义 2 1.2 发展概况 4 1.2.1 国内的发展概况 5 1.2.2 国外的发展概况 7 1.3本课题研究的内容 9 2 微小型步行四杆机构总体方案结构的设计 12 2.1 微小型步行四杆机构的总体方案图 12 2.1.1 方案的比较 14 2.1.2 方案的确定 14 3 四杆机构的设计 18 3.1基础理论知识 20 3.1.1曲柄存在的条件 20 3.1.2急回运动特性和行程运动速比K的关系 20 3.1.3压力角和传动角 20 4 机械传动的设计计算 21 4.1 选择直流伺服电机 21 4.2 同步带传动的设