机械5

摘要 本次设计的是一款履带式搜救机器人基础级载体，设计内容包括设计行走底盘和四自由度手臂以及对机器人的局部受力情况作了具体的分析。设计整体机器人结构。在设计过程中，不断的观察分析其他机器人的结构，吸取前人经验，进行方案比较选定。 本次设计的重点在于机器人的研究设计工作，由于机器人整体的设计难度较大，材料和机构精度要求较高，本设计产品还不能作为成熟产品进行加制造，只能形成设计方案。 关键字：机器人；履带底盘；机械臂；控制电路 Abstract What this desig
nwas a sectio
n of marchi
ng fire robot fou
ndatio
n level carrier,the desig
n co
nte
ntwalks the chassis i
ncludi
ng the desig
n a
nd the four degrees-of-freedom arms aswell as has made the co
ncrete a
nalysis to robot's partial stress situatio
n.Trial ma
nufacturi
ng overall robot structure.I
n the desig
n trial ma
nufacturi
ng process,the u
nceasi
ng observatio
n a
nalyzes other robot's structure,absorbs the predecessor to experie
nce,carries o
n the pla
n quite to desig
nate.A
nd goes dow
n to the factoryto process o
ne to carryo
n the study,bri
ngs to completio
n the processi
ng tech
nique of ma
nufacture,avoids steppi
ng o
nto o
nlypauses thewritte
n desig
n to be separated from the actual ma
nufacture the tortuous path. This graduatio
n project's keypoi
nt lies i
n robot's trial ma
nufacturi
ng researchwork,because the robotwhole's desig
n difficultyis big,the material a
nd the orga
nizatio
n accuracyrequireme
nt is high,this trial ma
nufacturi
ng product has
not bee
n able to take the mature product to carryo
n adds the ma
nufacture,ca
n o
nlydo for the guida
nce prototype supplies the refere
nce. Keywords: Robot; Caterpillar ba
nd chassis; Mecha
nical arm; Co
ntrol circuit 目录 摘要I Abstract II 绪论1 1.1项目概述1 1.2目的及意义1 1.3国内外发展概况2 1.4主要研究内容3 第二章方案比较与方案选择4 2.1行走机构方案比较4 2.2手臂机构方案比较6 2.2.1蠕动式机械臂6 2.2.2沿X、Y、Z坐标轴直线移动机械臂7 2.2.3仿人类手臂式机械臂8 第三章整体机构设计9 3.5回转盘机9 构设计机电动机选择9 3.6履带驱动轮机构设计机电动机选择10 3.7部分校核主要参数计算方法及强度校核11 轮齿传动11 蜗杆传动14 螺纹连接21 3.8本章小结26 第四章控制电路及控制器设计28 4.1控制电路设计28 4.2开关元件选用29 4.3控制器设计29 4.4本章小结30 第五章设计总结32 参考文献33 致谢34