毕业设计（论文）-平面爬壁机器人运动机构设计.docVIP

平面爬壁机器人运动机构设计 摘要 平面爬壁机器人有着广泛的用途，特别是它可以在一些危险环境下进行作业，易于实现自动化，改善劳动条件、节省人力、提高效率，并可免去搭脚手架。其运动机构当前机器人研究的主要方向之一，研究人员在原有的基础上追求更高的移动速度、更优的移动和吸附方式、更轻巧的内部结构、更灵敏的反应和自我调节等。为此，本论文研究了一种平面爬壁机器人的运动机构设计。 本研究思路是将机器人设计成为一个使其吸附在垂直墙壁上在安装有行走装置，使机器人能自由地在垂直墙面运动 全套图纸，加 首先，在深入分析当前机器人的研究情况下，查找资料研究爬壁机器人运动原理，在已有的研究基础上发挥想象力，对比各种方案，确定爬壁机器人总体框架的设计，主要是吸附和移动方案的设计。 其次，通过各种吸附方案的对比和机构复杂程度等，确定吸附方案并进行设计；同时通过各种移动方案的对比和其应用场合等，确定移动方案并进行设计。 再次，绘制方案、相关零部件的原理图、草图，并提供备选方案，利用Solid works建立有关机构的零部件的三维模型、装配模型仿真。 最后，将设计成果以模拟仿真资料和图纸的方式展示，并总结本设计的优缺点以及用到的技术。 关键词：爬壁机器人；运动机构；吸附机构；移动机构；模型 The Kinematic Design of Mechanism for Plane Wall- climbing Robot Abstract The plane wall-climbing robots are broad-spectrum in life and production, especially in some dangerous environment. It’s easy for them to achieve automation, change working conditions, reduce manpower and increase efficiency. A t the same time they relieve of building false work. As a result, this discourse introduces the process of kinematic design of mechanism for this kind robot. The main idea of this design is to design a robot which adsorb on wall, so that it walk vertically. It bring forth mainly in data?research, project selection contrast, three-dimensional model, Simulation and thesis. Firstly, do some research of principle of wall-climbing robot, and compare with different program to choose the overall frame work. Secondly, compare with different ways of adsorbing to choose the best way, and also the same to the moving program. Make sure that they are suit with each other. Thirdly, draw program, the relevant parts schematics and sketches, and to provide options. Use Solidworks set up three-dimensional model of the components and simulation of the assembly model. At last, bring forth the results of the simulation data and drawings. Sum up the advantages and disadvantages of this design and the technology used. Keyword: wall- climbing robot; kinematical design; adsorb; move; model 目录 1绪论 1 1.1平面爬壁机器人的研究背景和研究意义 1 1.1.1 研究背景 1 1.1.2研究意义 2 1.2 平面爬壁机器人的研究内容和发展方