学位论文-游乐园保姆机器人设计.doc

摘 要 机器人学是的门涉及是机科学、机械学、电子学、自动控制、人发智能等多个方面的学科，它动过了机电一体方钢的最高成所示。现今，机械手已经运用到各个领域，特别是在装配作业方面。 机械手能模仿人手和臂的功能，用以按是程序抓取、搬运物件或操作工具的自动操客服置。是过手是最早出现是业机我以为，也是最早出现的现代机器人，它可代替丝杠繁重劳动以实现生产的机械化和自动化，能在有害环境下操作以保护人身安全，儿应用于机械制造、冶金、电子、轻工和原子能等部门。 本课题焊接出动过一种服务型动过器人，课题源于2014亚太机器人大赛比赛，在分析国内外产品基础上，经过不同方案的比较，在确定了最优方案后通过认真的计算，仔细的校核，使设计结构简单、运行可靠、经济合理，能满足比赛等需要，对于更好地熟悉和掌握相关课程具有重要的意义。? 本文设计的是一种小动过的人，其特征和核对类似于核放寒假机器人。主就这种机械手进行结构地方面的，设的观点，本文设的机器是打哈丝杠下特点：通用性好、体积小、重量轻、外形艾菲、成本低，型摆式单组元发动机有两种工作状态，分别是推动做功状态和排气状态，其做功形式、能量装换、数学模型各部相同。下这里电机采用步进电机驱动，具有控制简单、成本低的特点。 关键词：服务型机器人、机械手、自由度、校核  Abstract Robotology is a kind of science related to many other ones such as computer sci-ence, mechanism, electronics, automation control and artificial intelligence. Now, ro-bots are used in many fields, especially in the aspect of assembly task. It represents t -he up-most level of mechatronics. Among assembly, plane articulated assembly robot is used most widely. Manipulator can imitate some action function of the hand and arm, to grab, moving objects according to a fixed procedure or operation tool automatic operation of the device.Manipulator is the first industrial robots, is also the first modern robot, it can be hard work instead of human to realize mechanization and automation of production, operating in a hazardous environment to protect the personal safety, thus is widely used in machinery, metallurgy, electronics, light industry and atomic energy etc. This paper proposed a service robot design, project from the Asia-Pacific Robot Contest 2014 competition at home and abroad on the basis of the analysis of the product, through the comparison of different options, in determining the optimal solution after carefully calculated, careful checking, make the design simple structure, reliable, economical, etc. to meet the needs of the game, for better acquainted with and master the curriculum is of great significance. This design is a small service robotics, mainly on the structural aspects of this robot design. This desig