反平行四边形轮式移动机器人的设计【机械类课题含7张CAD图+说明书1万字31页,带三维图】.zip

毕业设计( 论文) 反平行四边形轮式移动机器人的设计与研究学号: 姓名: 专业: 机械设计制造及其自动化系别: 机械工程系指导教师: XXX 讲师 XXX 副教授二○一五年四月 i 摘要机器人是一种能够模仿人类动作的机器,它可以完成许多对人类来说危险且单调的工作,机器人让人类从繁重、单调的工作中解脱出来。它们从事固定而有规律的工作,例如工业生产中的焊接、喷漆等等。本文主要以反平行四边行机构为基础来设计反平行四边形轮式移动机器人的的整体方案。该机构采用统一动作、协调控制的原则,通过连杆的摆动来实现机器人主体的翻转从而进行越障的运动, 该机器人以反平行四边形四连杆机构作为车体基本框架,翻转自身以适应不同地形。通过中控系统的控制来实现反平行四边形轮式移动机器人的动作,由于是中控系统控制,所以控制灵活,多样,并且可以实现一些人类靠自身无法完成的功能。关键词: 反平行四边形轮式移动机器人;工作;控制;功能 ii ABSTRACT A robot isa machine which can imitate human actions, it can finish a lotof human risk and monotonous work, let the human robot free out from the heavy, monotonous work. They engaged in regular work, such as industrial production welding, painting and soon. The overall scheme of this paper to the electric push rod as the ponent to design manned three degree of freedom triangular robot. The mechanism adopts the unified action, the coordinated control principle, by opening the travel of the push rod to realize the robot foot movement, to achieve a manned with three degrees of freedom robot motion control in the triangle by control system, the control system to control, so the control of flexible, multi sample. People can siton the robot, the controller is adopted to control the robot's movement, the realization of some people rely on their own plete the function of the leg muscles. Key word : Robot ; cylinder ; pneumatic loop ; Four degrees of freedom iii 目录摘要........................................................................................................................ i ABSTRACT ............................................................................................................. ii 目录...................................................................................................................... iii 1绪论....................................................................................................................... 1 机器人简史.................................................................................................. 3 应用机器