發(fā)布時(shí)間：2018-05-30 20:43

  本文選題：輪式移動(dòng)機(jī)器人 + 機(jī)構(gòu)設(shè)計(jì)��； 參考：《電子科技大學(xué)》2017年碩士論文

【摘要】：由于某些工作危險(xiǎn)系數(shù)比較高,并且我國(guó)老齡化問(wèn)題日趨嚴(yán)重造成勞動(dòng)力短缺,因此大力推進(jìn)研發(fā)機(jī)器人越發(fā)重要起來(lái)。對(duì)于國(guó)民經(jīng)濟(jì)的發(fā)展,機(jī)器人在很多行業(yè)發(fā)揮了極大的作用,機(jī)器人能夠完成人類無(wú)法完成的多種高危險(xiǎn)性、高精密性以及高靈活性的工作任務(wù),在很大程度上解放了人類的勞動(dòng)力,提高了人類的勞動(dòng)效率。據(jù)預(yù)測(cè),在未來(lái)十年內(nèi),機(jī)器人產(chǎn)業(yè)將成為非常巨大的新型產(chǎn)業(yè)。本文主要介紹監(jiān)獄夜巡機(jī)器人的設(shè)計(jì)及搭建,并基于此機(jī)器人平臺(tái)進(jìn)行嵌入式導(dǎo)航系統(tǒng)研究。移動(dòng)機(jī)器人在眾多領(lǐng)域(軍事、農(nóng)業(yè)、制造自動(dòng)化、能源、服務(wù)等)有著廣泛應(yīng)用。由于輪式移動(dòng)機(jī)器人有很多優(yōu)勢(shì),所以監(jiān)獄夜巡機(jī)器人選擇以此為平臺(tái)而設(shè)計(jì)。本文所做主要工作如下:1、根據(jù)項(xiàng)目需求,先了解學(xué)習(xí)了輪式移動(dòng)機(jī)器人的底盤布局、運(yùn)動(dòng)模型分析之后,分別參與采用全向輪的四輪移動(dòng)機(jī)器人底盤、三輪移動(dòng)機(jī)器人底盤的建模,并為四輪移動(dòng)機(jī)器人底盤設(shè)計(jì)懸掛結(jié)構(gòu),以便四個(gè)輪子能夠同時(shí)著地,同時(shí)也起到減振作用。2、對(duì)夜巡機(jī)器人上部結(jié)構(gòu)包括云臺(tái)俯仰機(jī)構(gòu)、旋轉(zhuǎn)機(jī)構(gòu)、升降機(jī)構(gòu)進(jìn)行設(shè)計(jì),對(duì)部分關(guān)鍵零件進(jìn)行強(qiáng)度校核,對(duì)其進(jìn)行適當(dāng)?shù)膬?yōu)化;繪制夜巡機(jī)器人的零件工程圖及裝配圖,團(tuán)隊(duì)審核過(guò)后將其整理成工程圖冊(cè)。參與夜巡機(jī)器人的裝配及調(diào)試;參與部分電氣和機(jī)械部件的選型、安裝與調(diào)試。3、對(duì)全向移動(dòng)底盤進(jìn)行運(yùn)動(dòng)學(xué)及動(dòng)力學(xué)分析,對(duì)傳動(dòng)軸及底盤頂板進(jìn)行靜力學(xué)分析,將懸掛機(jī)構(gòu)簡(jiǎn)化為連桿機(jī)構(gòu)進(jìn)行分析,對(duì)夜巡機(jī)器人進(jìn)行相關(guān)優(yōu)化以改良。
[Abstract]:Due to the high work risk coefficient and the shortage of labor force caused by the aging problem in China, it is more and more important to promote the research and development of robots. For the development of the national economy, robots have played a great role in many industries. Robots can accomplish a variety of high risk, high precision and high flexibility tasks that cannot be accomplished by human beings. To a large extent, the human labor force has been liberated and human labor efficiency has been improved. It is predicted that in the next ten years, the robot industry will become a very large new industry. This paper mainly introduces the design and construction of prison night patrol robot, and studies the embedded navigation system based on this robot platform. Mobile robots are widely used in many fields (military, agriculture, manufacturing automation, energy, services, etc.). Because wheeled mobile robots have many advantages, prison night patrol robots are designed on this platform. The main work of this paper is as follows: 1. According to the requirements of the project, we first learned the chassis layout of the wheeled mobile robot. After analyzing the motion model, we participated in the four-wheeled mobile robot chassis with omnidirectional wheels, respectively. Modeling the chassis of the three-wheeled mobile robot, and designing a suspension structure for the four-wheel mobile robot chassis so that the four wheels can land on the ground simultaneously, and also play a dampening effect. 2. The upper structure of the night patrol robot includes a cloud head pitching mechanism. The rotating mechanism and lifting mechanism are designed to check the strength of some key parts and optimize them properly. The part engineering drawings and assembly drawings of the night patrol robot are drawn and sorted into engineering atlases after the team audit. Participate in the assembly and debugging of the night patrol robot, participate in the selection, installation and debugging of some electrical and mechanical components, analyze the kinematics and dynamics of the omnidirectional moving chassis, and carry out statics analysis on the drive shaft and the top plate of the chassis, The suspension mechanism is simplified as the linkage mechanism, and the related optimization of the night patrol robot is carried out to improve it.
【學(xué)位授予單位】：電子科技大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類號(hào)】：TP242

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本文編號(hào)：1956761