《护士助手机器人的设计》-毕业论文.docVIP

摘 要 “护士助手机器人”是协助护士完成特定工作的无线遥控医用服务型机器人。研究目的是减少医护人员和病人接触的机会。护士助手机器人由运动车体,控制与无线遥控系统,喷雾消毒系统,摄像、无线图像传输、监视系统组成。针对护士助手机器人实现模拟人手动作的功能，进行了相应的结构设计，在原有护士助手机器人的基础上，在车体顶部装上机械手，实现了物体的自由抓取，为以后设计更加人性化的机器人打下基础。 本论文完成了护士助手机器人的总体建模，然后分别对机器人的车体部分和机械手部分进行了设计。针对车体，首先是选材，然后是对底盘结构进行了设计，包括减速机构、驱动器的选择等，最后对车底盘的部分重要零件作了强度校核，例如轴承座的COSMOSXpress分析等。对于机械手，首先对其重要的传动部件谐波减速器作出了比较详细的介绍，然后是驱动器的选择，最后对机械手的部分零件进行了校核。 关键词：护士助手机器人；机械手；车体；底盘 ABSTRACT Nurse Assistant robot is a wireless remote control medical using servicing robot designed to help the nurses to do certain works. The aim is to decrease the doctors’ contact with the patients. Nurse Assistant Robot is composed of moving bodywork, remote wireless control system, disinfection spray system, and a surveillance system made up by video camera, wireless image transfer, and monitor system. Some structural design works has been done according to its function of simulating the action of human’s arms. A robot manipulator has been installed on the top of the previous nurse assistant robot then the function of object-freely-grasping can be achieved, and this also laid solid foundation for more humanized robot in future. This paper has completed the nurse assistant robot overall modeling. Then the robot car body and the manipulator part have been designed respectively. As for car body, the first job is material selection, the second is to design the chassis structure, which including the choice of reducing and driving mechanism. Finally the strength of some critical parts been checked, for example the bearing base COSMOSXpress analysis and so on. As for the manipulator, First of all their important components harmonic drive reducer made a detailed presentation , then is the driver choice, in carries on the example analysis to a rotation joint, finally check the strength of some parts. Key words: Nurse assistant robot ; Manipulator ; Body ; Chassis 目　　录 TOC \o 1-3 \u 第1章 绪论 PAGEREF _Toc339197137 \h 1 1.1 课题研究的背景和意义 PAGEREF _Toc339197138 \h 1 1.2 国内外护