毕业设计（论文）-四轮履复合移动平台设计.doc

摘要:
随着我国改革开放的不断开展,我国经济建设和技术应用都得到了高速稳定的发展,机器人已成为制造加工行业必不可少的关键设备,机器人可以分为工业机器人和特种机器人两大类,工业机器人通常应用于制造加工行业,实现工业自动化,多为关节机器人和多自由度机器手;而特种机器人则被广泛应用于各行各业,几乎遍布除工业外的其他领域,包括服务机器人、军用机器人、农业机器人等等,关节机器人通常情况下是固定不动的,所以其工作范围非常局限,而一些特种机器人根据实际情况订制而成,可以实现移动并能够一定程度上翻越障碍物,使得机器人能够更加方便快捷的完成各项任务。
可移动式特种机器人相比普通关节机器人增加了移动机构,移动的机构多种多样,有腿式移动机构,轮式移动机构,履带式移动机构等等,履复合移动平台结合了履带式机器人和轮式机器人各自的行走特点,发挥了二者的优点长处,使得整个移动平台行走起来更加平稳快速。本篇论文中提出了一种结构巧妙、机动性好、稳定性能高的四轮履复合移动平台设计方案,本设计对履复合式移动结构进行深入分析研究,其工作原理是:利用行走电机通过减速器带动四轮履带转动,使得整个移动平台向前行进,履带上的复合滚轮跟随着履带转动,利用翻转电机通过减速器带动四轮履带翻转用于实现越障功能。四轮履复合移动平台作为一种新型的移动平台,对此进一步的研究也是不能忽视的。
关键词:移动平台;履复合;机器人
Abstract
With the continuous development of China's reform and opening up, China's economic construction and technology applications have been high-speed and stable development, the robot has e a manufacturing and processing industry essential essential equipment, robots can be divided into industrial robots and special robots two categories, Robots are often used in the manufacturing and processing industry, to achieve industrial automation, mostly joint robots and multi-degree of freedom of the robot; and special robots are widely used in all walks of life, almost all over the industrial areas, including service robots, military robots , Agricultural robots, etc., joint robots are usually fixed, so the scope of its work is very limited, and some special robots customized according to the actual situation, can be moved and to a certain extent, over the obstacles, making the robot Can be more convenient and quick plete the task.
The mobile robot has a variety of moving mechanisms, a leg-type moving mechanism, a wheel-type moving mechanism, a crawler-type moving mechanism, etc., and a mobile robot bined with a crawler-type robot and a mobile robot Wheeled robots of their own walking characteristics, played the advantages of both strengths, making the entire mobile platform to walk up more smoothly and quickly. In this paper, a design scheme of four-wheel-pound mobile platform with