基于PROE的搜救机器人模型建立与运动仿真.doc

基于PRO/E的搜救机器人模型建立与运动仿真 摘要关键词：Search and rescue robot based on PRO/E model establishment and movement simulation Abstract:When?natural?disasters?occur,?the?survivors?are?in?critical?condition?and?need?to?transfer?and?rescue?as?soon?as?possible.?However,?the?difficulty?and?danger?of?search?and?rescue?work,?often?causing?casualties?of?search?and?rescue?personnel.Therefore,?it?is?significant?to?reaserch?the?multi?robot?that?can?independently?complete?the?search?and?rescue?missions. The?purpose?of?this?study?is?to?design?a?sescue?robot?with?novel?structure,autonomous?action?ability?and?climbing?ability.?Its?mobile?mode?is?crawler?driving?structure.The?scheme?adopts?the?modular?design,?in?order?to?easy?disassembly?and?maintenance.By?controlling?the?rotation?of?the?auxiliary?arms?on?the?two?sides?to?change?in?Robot?form,?we?can?adapt?the?robot?to?different?search?and?rescue?environment,?to?complete?the?obstacle?motion. The design of the robot mechanism mainly includes the following systems: mobile mechanism, control system, multi-functional perception system and navigation and positioning system.And?it?passed?the?mobile?mechanism?of?dynamics?calculation?and?the?analysis?of?obstacle?ability.?At?last,?the?model?is?built?and?motion?simulation?is?carried?out?by?PRO/E,?to?ensure?the?feasibility?of?mobile?agencies. Keywords: Crawler robot, tracked mobile mechanism, multi-functional robot. 目 录 1 绪论 5 1.1 引言 5 1.2 课题研究的背景 5 1.2.1 背景 5 1.2.2 意义 5 1.3 搜救机器人的研究现状 2 1.3.1 国外研究现状 2 1.3.2 国内研究现状 4 2 搜救机器人的本体结构分析 5 2.1 机器人的机械设计概述 5 2.2 搜救机器人运动机构设计 6 2.2.1 机构设计的依据 7 2.2.2 运动机构组成 8 2.2.3 主要机构的工作原理 10 2.2.4 运动方式设计 10 2.2.5 越障能力分析 12 2.3 搜救机器人驱动装置设计 15 2.3.1 机器人在平直路面行驶 16 2.3.2 机器人爬坡过程 16 2.3.3 机器人的多姿态越阶 17 2.4 移动机构设计 19 2.4.1 典型移动机构分析 19 2.4.2 轮、履、腿式移动机构性能比较 21 2.4.3 本研究的的机器人移动机构 21 2.5 履带部分设计 22 2.5.1 履带的选择 22 2.5.2 功率的计算 23 2.5.3 型号确定 23 2.6 履带主从动轮设计 24 2.6.1 履带轮主要尺寸计算 24 2.6.2 履带轮齿形和齿面宽度的选择 25 2.7 履带翼板部分设计 26 2.7.1 履带翼板的作用 27 2.7.2 履带翼板设计 27 2.8 机器人控制系