四履带搜救机器人机械结构设计—摆臂设计（全套含CAD图纸）.zip

摘要
本论文研究工作的目的是设计结构新颖、具有独创性的可携带、抗一定冲击的履带移动机器人,以能够适应在恶劣环境和复杂路况下工作。通过在移动系统上加载不同的探测传感设备,能够实现搜救机器人不同的使用功能,本研究意义在于为后续设计的搜救机器人提供一个基础的动力平台,以便于能够开发出更多使用功能的搜救机器人。
本研究所设计的搜救机器人移动方案是履带式驱动结构。该方案采用模块化设计,便于拆卸维修,可以适应不同情况的复杂路面,并可主动控制两侧肋板的转动来调节机器人姿态变化,辅助爬坡、越障和跨沟;机器人经过合理的结构布局和设计后具有良好的环境适应能力、机动能力。本论文所设计主的机器人移动机构主要由四部分组成:主动轮减速驱动机构、肋板转动机构、摆臂减速器机构、履带及履带轮运动机构。
关键字:搜救机器人;摆臂,履带式减速器
Abstract

The purpose of this thesis is to design novel structure, its unique portable,shoc-k intelligently tracked mobile robot, in order to be able to adapt to the harsh environment and plicated road to systems loaded by different mo-ules, search and rescue robots can be achieved using different functions, this studyis important because other people's search and rescue robot designed to provide a basis for the dynamic platform to facilitate greater use of features can developsear-ch and rescue robots. This resoarch is moving search and rescue robot program is modular in design, easy disassembly maintenance, can plex adaptive sub-surface, active control can turn on both sides of flange module to adjust the robot pose changes, supporting climbing,obstacle and cross- design of the robot moving mechanism mainly consists of ponents. Active wheel reducer drive mechanism, flange rotation institutions, adaptive road implementing agencies, anizations track and track wheels.
Key words: search and rescue robots; swing arm;crawler;
Retarder;
目录
前言................................................3
1 绪论..............................................7
...............................7
课题研究背景..............................7
课题研究意义..............................8
.................................9
国外研究现状..............................9
国内研究现状.............................14
搜救机器人的技术发展方向.................17
2 搜救机器人的移动机构分析...........................21
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