小型轮式机器人的设计与研究.docVIP

中国矿业大学 本科生毕业设计 姓 名： 学 号： 学 院： 专 业： 设计题目： 小型轮式机器人的设计与研究 指导教师： 职 称： 教授 讲师 2012 年 ** 月 ** 摘 要 本文以机器人为研究对象，结合当前机器人技术的发展，提出所需要的功能和需要满足的性能和指标，设计出机器人行走机构。机器人行走机构可做为探测、侦查、以及防爆等作业的搭载平台。 通过对国内外机器人的性能以及的研究概况的调查分析，国内外几种典型的机器人行走机构的研究比较，总结并综合了其各自的优缺点，结合本文所研究的机器人的功能，提出机器人行走机构的虚拟样机模型。 对机器人行走机构模型在如、台阶等障碍的非结构环境下进行了越障和转向等运动分析，在此前提下进行机器人行走机构的结构尺寸设计，对机器人行走机构在平地和斜坡模式下所需的驱动电机功率进行了计算，并根据结果选用机构进行了包括驱动系统、系统在内的机构设计建模软件 UG完成了对机器人行走机构零部件的三维参数化建模。 、高台地形下的，验证了机器人行走机构运动速度、能完成所提出的越障指标及性能。 最后，针对论文现有设计，给出了进一步的改善优化建议，并对所设计的机器人行走机构的发展前景进行了展望。 行走机构越障结构设计 ABSTRACT This thesis is mainly about the small wheeled robot, combining with the development of the current wheeled robot technology, putting forward the needed function and the performance and the index need to be met, and designing the traveling mechanism of the small wheeled robot. The small wheeled robot can be the carrying platform for the work like detecting, investigation, and anti-explosion. Analyze the performance and structure of the wheeled robot at home and abroad, compare the research of the typical wheeled robots’ structure, synthesize their merits and defaults, combine the function of the robot we make research on, the virtual prototype models of the four-wheeled and six-wheeled robot are put forward. The four-wheeled robot adopt the four-wheel-drive and independent suspension system. The six-wheeled robot comprises of the six-wheel-drive, centralized control and the adjustable front and back wheel. The analysis is made on the structure of the wheel robot when they are working under the unstructured environment such as ditch, footstep and etc, analyzing their abilities of going over the obstacles and turn. On the basis of this, the traveling mechanism of the wheeled robot is designed. The motor power is calculated respectively when the robot is working on the flat ground or on th