宋亮—亚太机器人大赛参赛机器人机电结构优化设计与实现.doc

下载可编辑 PAGE .专业.整理. 摘 要 随着国内外机器人竞赛热潮的兴起，学生亲自动手完成机器人的设计与制作已成为参加机器人比赛的主要方式。本人作为西安交通大学第六届亚太大学生机器人大赛的参赛队员，参与了机器人的设计和制作整个过程，在创新设计能力、动手能力和培养团队合作精神等方面都得到了提高。 论文首先对第五届和第六届亚太大学生机器人大赛赛题作了简要的介绍，对两届规则进行了仔细的分析和比较，并介绍了西安交通大学参赛机器人整体方案的设计。随后介绍了制作机器人过程中常用的机电路组件以及各种传感器。最后本文重点论述了在机器人制作过程中机电结构的改进与优化。 在手动及自动的设计、制作以及改进过程中，本人提出了很多改进方案，并且大部分都得到了实施和验证。这些改进方案即包括机械结构方面的，又包括定位和控制方面的。正是有了这些关键的改进方案，才使得比赛机器人越来越完善,比在比赛中赢得对手，取得好成绩。 关键词：机电结构，改进与优化，机器人 ABSTRACT Along with the upsurge of the robot competition in and abroad, it has been the main way to take part in the match to design and finish the robots’ facture by the students themselves. As one of the member of the sixth Robot Team of Xi’an Jiaotong University, I have taken part in the whole process of the robots’ design and manufacture. And at the same time, my ability of innovation, manufacture and the spirit of team work have been improved tremendously. At first, the rules of 5th and 6th ROBOCON has been introduced simply and be carefully analyzed and compared, and then this thesis has introduced the whole design of the blue print of our robots which have taken part in the match. Following by, this thesis has introduced the electromechanical module and sensors we constantly use in the making of robots. At last, this thesis details the improving and optimizing of the electromechanical structures in the making of robots. In the process of designing, making and improving of manual and auto robots, I had put forward many improving schemes, and most of which had been put into practice and verified. These improving schemes are not only about machinery structures but also about locating and controlling. As these key improving schemes, our robots become prefect, beat our opponent and get good score in ROBOCON. Key words: electromechanical structures, robot, improving and optimizing 目录 TOC \o 1-3 \h \z \u 第1章 前 言 1 1.1 选题背景 1 1.2 研究内容 2 1.3 章节安排 3 第2章 机器人大赛规则分析 4 2.1 第五届大学生机器人大赛规则简介 4 2.1.1比赛场地 4 2.1.2比赛规则要点 6 2.2 第六届大学生机器人大