履带机器人研究.doc

履带机器人研究 院 系 学院 专 业 班 级 学 号 姓 名 指导教师 负责教师 沈阳航空工业学院2008年6月摘 要 文中依据复合移动机构综合方法，针对特定任务要求的非结构环境，设计了基于复合机构的履带腿式非结构环境移动机器人，并对履带腿式移动机器人的机械结构和控制系统作了介绍。 由于履带式与轮式运动特性的巨大差异，重点分析了履带式机器人运动过程中地面对履带的影响，特别是转弯运动中转弯阻力的影响，并且建立动力学模型进行仿真和实验。针对机器人“履带——关节”的特殊结构，分析了机器人在典型地形下的通过性。 关键词：；；；Abstract The mobile robots have the broad prospect of application and the social demand in the fields like performing hazardous tasks, exploring outer space, rescuing after earthquakes, exploring natural resources. The mobile robots in the unstructured environment require moving mechanism with better mobility. The moving mechanism is spatial mechanism. There are great differences, meanwhile the close ties between the moving mechanism and the planar mechanism and industrial robot. On the basis of referring and comprehending the amount of literature, the author studied the synthesis theory of planar mechanism and of industrial robots and then analyses the characteristics of typical moving mechanism, the wheel, the leg and the track. According to the synthesis principles for compounded moving mechanism and the analysis of characteristics of the unstructured environment, the author designed the track-leg mobile robot and presented the structure of the mobile robot system in detail. According to great difference of moving performance between track robot and wheel robot, this thesis puts emphasis on the analysis of the effect between the track and the environment, especially the curve resistance of the robot. The dynamics model of the track mobile robot is, founded and validated by simulation and experiment. Aiming at the special structure of the robot, track-joint, the overpass ability in typical terrain is analyzed. Keywords: unstructured environment；moving mechanism；mechanism synthesis；mobile robot 目 录 1 绪论 1 1.1 研究背景 1 1.2国内外微小型机器人发展现状 2 1.3 主要研究内容 3 2 总体设计方案 5 2.1 引言 5 2.2 履带体部分机构设计 6 2.3 履带摇臂部分机构设计 7 2.4 电机的选择 8 3 零件校核 9 3.1 齿轮2-40a的校核 9 3.2 轴的校核 14 4 履带式地面移动机器人运动学分析 19 4.1 引言 19