毕业设计（论文）-矢量推进装置设计.doc

1 - 摘 要 随着人类海洋开发的步伐不断加快，水下机器人技术作为人类探索海洋最重要的手段得到了空前的重视和发展。作者对水下机器人进行了定义与分类。介绍了近年来国内外水下机器人的发展现状与发展趋势，重点针对智能水下机器人的主要关键技术及未来发展方向进行了分析。地球的表面积为5．1亿km2，而海洋的面积为3．6亿km2。占地球表面积71％的海洋是人类赖以生存和发展的四大战略空间——陆、海、空、天中继陆地之后的第二大空间，是能源、生物资源和金属资源的战略性开发基地，不但是目前最现实的，而且是最具发展潜力的空间。 目前，小型的水下机器人多用螺旋桨为其动力能源，使用螺旋桨旋转产生的推力实现机器人在水下的移动，但单个螺旋桨只能使水下机器人实现前进及后退的动作，要实现转向需要多个螺旋桨进行矢量的控制。本文针对以螺旋桨为动力的水下机器人这一缺陷，通过分析目前在机器人中广泛使用的并联机构，尝试寻找、分析并论证一种并联机构，可以实现以一个螺旋桨作为推进的动力，并且可以靠此机构实现螺旋桨的角度偏移以控制其前进的方向，最后使用Solidworks三维软件进行三维的建模及装配最终形成二维的装配图及零件图。 关键词: 水下机器人；矢量推进；并联机构 全套图纸加扣 3346389411或3012250582 Abstract As the pace of human marine development continues to accelerate, underwater robot technology has received unprecedented attention and development as the most important means for human exploration of the ocean. The author defines and classifies underwater robots. The development status and development trend of underwater robots at home and abroad in recent years are introduced. The key technologies and directions for future development of intelligent underwater robots are analyzed. The surface area of the Earth is 510 million km2, while the area of the ocean is 360 million km2. The ocean, which accounts for 71% of the Earths surface area, is the fourth most strategic space for human survival and development—the second largest space after the land, sea, air, and sky relay lands. It is a strategic development of energy, biological resources, and metal resources. The base is not only the most realistic at present, but also the most potential space for development. At present, small underwater robots use propellers as their power source, and use the thrust generated by the rotation of the propeller to move the robot underwater. However, a single propeller can only enable the underwater robot to perform forward and backward movements, and it is necessary to achieve multiple steering movements. The propeller controls the vector. In this paper, aiming at the disadvantage of prope