探测机器人的设计--毕业论文设计.doc

PAGE 摘要 本设计采用模块化设计，以便根据要求选择和定制配置，并在需要的时候方便更换和添加其他模块，而且给出了两种移动方式的设计方案，即轮式的设计和履带式移动方式，两者都有各自的特点。轮式探测机器人的机动性能比较好；履带式的机器人也具有良好的机动性，在越障、跨沟、攀爬方面具有明显优势，其最大优点是具有良好的越障性能、环境适应性能、防摔抗冲击性能并具备全地形通过能力。因此本次设计主要以履带式为主。除了设计探测机器人的总体结构外，还给出了移动控制方案。 机器人最重要的机构是运动底盘的设计，即使软件设计的再好，移动方式没有设计好，那么机器人也不会很好的执行任务。轮式，腿式，履带式的移动方式在设计过程中已经给出， 可以根据自己设计的要求进行选择。如果地形比较平缓，或是有沟壑的地形，可以选择履带的移动方式；如果是平缓没有沟壑的地形，就选用轮式的移动方式；如果地形成阶梯状，而且地形比较复杂，最好选用腿式的方法。 本设计可以采用两种控制系统，即通过上位机直接通过总线对机器人进行控制或是通过无线电台对机器人进行控制。 关键词： 探测机器人； 模块化设计； 履带移动方式； 机器人的控制系统； Abstract The design is modular in design so that in accordance with requirements of options and custom configuration, and when needed to facilitate the replacement and add other modules, and is given two mobile forms of design options, that is, tracked and wheeled mobile way of design , Both have their own characteristics, but mainly to crawler-based research and design, it has good mobility in the barrier, the inter-ditch, climbing has obvious advantages. The robot is the greatest advantage of the barrier has a good performance, adapt to environmental performance, Fangshuai impact resistance and have all-terrain capacity. The wheeled robot will detect mobility is better。In addition to detecting robot design the overall structure, but also gives a mobile control ways。 Robot is the most important bodies of the sports chassis design, even the best software design, mobile design means no good, then the robot will not be very good mission. Wheeled, legged, tracked the movement of way in the design process has been given, Can be designed in accordance with the requirements of their own choice if the relatively flat terrain, or a gully of the terrain, can choose to track the movement; If the gully is not flat terrain, on the choice of wheeled mobile way, if formed ladder, and More complex terrain, the best choice legged approach。 This design uses two types of control systems, through the PC directly through the bus to control the robot through the radio or to control the robot。