毕业论文：机械手毕业设计正文.docx

XX大学 200X届毕业设计说明书 摘 要 随着社会的进步和科技的发展 ,机器人产品开始进入到生产过程和日常生 活中,各种类型的机器人在特定的工作环境下发挥着越来越重要的作用。但是 目前对于移动式机器人多采用轮式移动机构 ,在适应复杂地形时无法满足路况 的要求 ,由此设计一种灵活的、行走平稳和对路况适应性强的机器人成为解决 此类问题的关键。根据昆虫运动时采用的三角步态走法设计了机器人的腿部 五连杆行走机构 ,并对其进行了占空比、稳定性、转弯状态等分析，由程序来 控制机器人的动作。 关键词 ：慧鱼机器人，工业机器人，仿生机器人 With the development of society and technology, robotics products began to enter into the process of production and daily life, various types of robots play amore and more important role in the specific working environment. However, for a mobile robot with wheeled mobile mechanism, can not meet the requirement in the complex terrain conditions, thus a key flexible, steady running and be on the road the adaptability of the robot to solve this kind of problem design. According to the tripod gait of insects by movement of the walking legs mechanism design of five link robot, and has carried on the analysis, the stability of duty ratio, turning state, the program to control the movement of the robot. 第 I 页 共 Ⅱ 页 XX大学 200X届毕业设计说明书 目录 1 绪论. .........................................................................................................................1.... 1.1 机械手概述 .............................................................................................................1... 1.2 机械手的组成和分类 ..............................................................................................2.. 1.2.1 机械手的组成 . ....................................................................................................2... 1.2.2 机械手的分类 . ....................................................................................................4... 1.3 国内外发展状况 .....................................................................................................6... 1.4 课题的提出及主要任务 ..........................................................................................8.. 1.4.1 课题的提出 .........................................................................................................8... 第 II 页 共 Ⅱ 页 XX大学 200X届毕业设计说明书 1.4.2