真空吸附式面清洗机器人毕业设计.docVIP

本 科 毕 业 设 计（论文） 题 目：连杆吸盘越障系统设计 专题题目：新型越障式-高空清洁卫士 学 院：机电工程学院 专 业：机械工程及其自动化 班 级：xxxxx 学 号：xxxxx 学 生：xxxx 指导教师： 职称：教授 指导教师： 职称： 时间：xxxx年xx月 摘 要 机器人的开发和应用，拓展了人类的生产能力，解放了危险环境下的工作人员，极大地推动了人类科技革命和社会进步，多足式爬壁机器人属于极限作业机器人的一种，广泛应用于清洗，消防，检测等多个行业。 本文在国内外现有壁面移动机器人研究成果的基础上。结合壁面作业的特点对壁面机器人的吸附技术，行走技术进行了研究分析，并创造性的提出了壁面越障技术，本文主要的研究工作如下： 首先，追溯国内外壁面机器人研究的历史背景、总体类别与特点，及其发展态势，总结出壁面攀爬机器人的研究特点和关键技术所在。 其次，本文根据机器人实际工作的要求，主要对高空清洁卫士机器人越障系统中的腿部机构、吸附结构，驱动机构构型设计。 最后，本文在结构件的设计过程中，同时考虑轻量化和安全可靠性要求，对机器人的吸附、越障机构进行了强度校核和优化设计。 关键词:： 关键词: 壁面越障；腿式结构；真空吸盘；机构设计；周期性步态 Abstract The development and application of robots have expanded our production capacity of the human beings, as well as emancipated personnel works in hazardous environments , greatly promoted scientific and technological revolution and human social progress.A multi legged wall climbing robot which belongs to the limit of the robot, is widely used in cleaning, fire protection, detection and other industries. Based on the existing domestic and foreign mobile robot wall surface on the research results of. According to the characteristics of the wall operation adsorption technology to wall robot, walking technology is studied and analyzed, and creatively put forward the wall climbing technique, the main research work of this article are as follows: Firstly, the historical background, the overall classification and characteristics of domestic research on outer surface of the developing situation and the robot traces, and later, summed up the research characteristic and the key technology of wall climbing robot. Secondly, in the end of this paper the robot concept design, this paper introduces Unigraphics NX model and modeling method, and taking the leg mechanism as an example, introduces the Unigraphics platform of NX parts and assembly design, and simulation results under the Simulation simulation platform. Again, this paper clearly on the wall robot based on the constraint co