四履带搜救机器人机械结构设计摆臂设计【毕业论文+CAD图纸全套】.doc

摘 要 本论文研究工作的目的是设计结构新颖、具有独创性的可携带、抗一定冲击的履带移动机器人，以能够适应在恶劣环境和复杂路况下工作通过在移动系统上加载不同的，能够实现搜救机器人不同的使用功能，本研究意义在于为的搜救机器人提供一个基础的动力平台，以便于能够开发出更多使用功能的搜救机器人。本研究所设计的搜救机器人该所设计机器人机构主要由四部分组成：。 ： Abstract  The purpose of this thesis is to design novel structure, its unique portable,shoc-k intelligently tracked mobile robot, in order to be able to adapt to the harsh environment and the complicated road to work.Mobile systems loaded by different mo-ules, search and rescue robots can be achieved using different functions, this studyis important because other peoples search and rescue robot designed to provide a basis for the dynamic platform to facilitate greater use of features can developsear-ch and rescue robots. This resoarch is moving search and rescue robot crawler.The program is modular in design, easy disassembly maintenance, can be complex adaptive sub-surface, active control can turn on both sides of flange module to adjust the robot pose changes, supporting climbing,obstacle and cross-channel.The design of the robot moving mechanism mainly consists of four components. Active wheel reducer drive mechanism, flange rotation institutions, adaptive road implementing agencies, sports organizations track and track wheels. Key words: search and rescue robots; swing arm;crawler; Retarder; 目录 前 言................................................3 1 绪 论..............................................7 1.1课题研究背景及意义...............................7 1.1.1 课题研究背景..............................7 1.1.2 课题研究意义..............................8 1.2国内外的研究概况.................................9 1.2.1 国外研究现状..............................9 1.2.2 国内研究现状.............................14 1.2.3 搜救机器人的技术发展方向.................17 2 搜救机器人的移动机构分析...........................21 2.1井下复杂环境对搜救机器人的要求..................21 2.2移动机构方案论证分析............................22 2.2.1 轮式移动