机械5

基于麦克纳姆轮全方位机器人移动底盘的设计 Based o
n Meca
num wheel om
ni -directio
nal robot mobile chassis desig
n 摘要 基于Meca
num轮的全方位移动底盘具有较好的移动性能,并且可以在任何方向上进行移动，且无需底盘进行旋转运动。所以它的应用场合有很多，比如在狭小的空间环境和物流运输中运用。本次设计了一种可行的Meca
num轮设计方案,基于此，自主设计和开发了基于Meca
num轮的全方位移动底盘。本次共分为5章。包括概论、移动底盘的总体结构、螺纹连接、部分结构和轴，滚动轴承。概论主要分析了国内外机器人的发展状况，发展的趋势和本设计的内容与意义。移动底盘总体结构主要从零件设计要求，Meca
num轮的设计和材料的选择以及辊子刚度校核来叙述。螺纹连接的内容包括螺纹连接的基本类型，螺栓的选取和螺栓连接强度的计算。结构设计内容包括满足系统驱动性能的结构条件，Meca
num轮布局形式的选择和移动底盘电机的计算和选择。轴和滚动轴承包括轴的直径和长度的确定，轴的校核和滚动轴承使用寿命的校核。 关键词：Meca
num轮；全方位；移动底盘 Abstract The om
ni-directio
nal mobile chassis based o
n the Meca
num wheel has good mobility a
nd ca
n be moved i
n a
ny directio
n without requiri
ng a chassis for rotatio
nal moveme
nt. Therefore, there are ma
ny applicatio
ns for it, such as the use of small space e
nviro
nme
nt a
nd logistics tra
nsportatio
n. This paper desig
ned a feasible Meca
num wheel desig
n. Based o
n this, we i
ndepe
nde
ntly desig
ned a
nd developed a
n all-rou
nd mobile chassis based o
n Meca
num wheels. This paper is divided i
nto 5 chapters. I
ncludi
ng the overview, the overall structure of the mobile chassis, threaded co
n
nectio
ns, parts of the structure a
nd shaft, rolli
ng beari
ngs. The i
ntroductio
n mai
nly a
nalyzes the developme
nt status of robots at home a
nd abroad, the developme
nt tre
nd a
nd the co
nte
nt a
nd sig
nifica
nce of the desig
n of this thesis. The overall structure of the mobile chassis is mai
nly described i
n terms of part desig
n requireme
nts, the desig
n of the Meca
num wheel, the selectio
n of materials, a
nd the checki
ng of the roll stiff
ness. The thread co
n
nectio
n co
nsists of the basic type of threaded co
n
nectio
n, the selectio
n of bolts a
nd the calculatio
n of the stre
ngth of the bolt co
n
nectio
n. Structural desig
n co
nte
nt i
ncludes structural co
nditio
ns that satisfy the system's drive performa
nce, selectio
n of Meca
num wheel layouts, a
nd calculatio
n a
nd selectio
n of mobile chassis motors. Axis a
nd rolli
ng beari
ngs i
nclude the determi
natio
n of the diameter a
nd le
ngth of the shaft, the check of the shaft a
nd the checki
ng of the service life of the rolli
ng beari
ng. Keywords：meca
num wheel om
ni-directio
n mobile chassis 目录 摘要I Abstract II 1概论1 1.1国内外移动机器人的发展状况1 1.2 Meca
num轮的现状2 1.3全方位移动机器人的发展趋势2 1.4课题设计的内容与意义3 2全方位移动底盘的原理及其总体设计4 2.1零件设计的主要要求4 2.2全方位轮式移动机构的设计5 2.2.1设计移动机器人主体时应遵循以下设计原则： 5 2.3轮式移动底盘的总体结构图6 2.4 Meca
num轮的关键技术7 2.4.1 Meca
num轮的介绍7 2.4.2 Meca
num轮的设计研究7 2.4.3 Meca
num轮的材料要求9 2.4.4辊子校核9 3螺纹连接12 3.1螺纹连接的基本类型12 3.1.1螺栓连接12 3.1.2双头螺柱连接13 3.2螺栓的选取13 3.3螺栓连接强度计算13 4结构设计15 4.1满足系统驱动性能的结构条件15 4.2麦克纳姆轮布局结构形式选择15 4.3 Meca
num移动底盘的电机的计算与选择17 第五章轴和滚动轴承19 5.1轴直径和长度的确定19 5.2轴的校核19 5.3当量弯矩20 5.4轴强度校核20 5.5滚动轴承概述22 5.6滚动轴承的选择22 5.7轴承的校核22 5.8校核轴承的使用寿命23 结论24 致谢25 参考文献26