爬楼机器人毕业设计.docx

毕业设计(论文) 摘要摆臂式爬楼机器人是一种能够在多种特殊地形上进行作业的移动式机器人。它属于作业机器人的一种,可以将人从危险的工作中解脱出来,是当前机器人领域研究的热点之一。本文通过对国内外各种类型爬楼机器人现状进行了系统的分析与比较,论述了爬楼机器人的运动方式、控制系统等。首先介绍了国内外爬楼机器人研究现状,阐明本课题研究的目的、意义。然后进一步介绍了本爬楼机器人总体结构。本文在此基础上,设计了抓扶手支架机械手,着重阐述了爬楼机器人夹持机械手主要问题及其解决方法,并对关键部件进行设计和分析。关键词:爬楼机器人履带机械手毕业设计(论文) Abstract The wall climbing robot ofhook claw isa climbing robot can worked at height on the vertical wall of mobile service robots. It belongs toa robot of limit, Will work from the dangerous freed, currently, it isone of the hotspots where the field of robotics research. Based on the current situation at home and abroad to conduct various types of wall-climbing robot system for analysis parison, discusses the wall climbing robot ofhook claw ’s mode, adsorption and control systems. Firstly, it is introduce that Research to the climbing robot at home and abroad, clarify the purpose of the research, significance. And then further describes the overall structure of the wall-climbing robot, meanwhile it is also asked to design reasonable and efficient of crawling device, and in this basis, it is focused on the main problems and solutions for climbing robot control system, the robot's control system must be simple, safe, reliable, efficient, and convenient. Keywords: wall-climbing robot ;hook claw ; rough wall ; Development 毕业设计(论文) 目录摘要.......................................................................................................................... I Abstract .......................................................................................................................... II 目录........................................................................................................................ III 第1章绪论................................................................................................................ 1 本文研究的目的及意义................................................................................. 1 国内外爬壁机器人的发展现状和趋势......................................................