XX大学200X届毕业设计说明书
摘 要
随着社会的进步和科技的发展,机器人产品开始进入到生产过程和日常生活中,各种类型的机器人在特定的工作环境下发挥着越来越重要的作用。但是目前对于移动式机器人多采用轮式移动机构,在适应复杂地形时无法满足路况的要求,由此设计一种灵活的、行走平稳和对路况适应性强的机器人成为解决此类问题的关键。根据昆虫运动时采用的三角步态走法设计了机器人的腿部五连杆行走机构,并对其进行了占空比、稳定性、转弯状态等分析，由程序来控制机器人的动作。
关键词：慧鱼机器人，工业机器人，仿生机器人
With the development of society and technology, robotics products began to enter into the process of production and daily life, various types of robots play amore and more important role in the specific working environment. However, for a mobile robot with wheeled mobile mechanism, can not meet the requirement in the complex terrain conditions, thus a key flexible, steady running and be on the road the adaptability of the robot to solve this kind of problem design. According to the tripod gait of insects by movement of the walking legs mechanism design of five link robot, and has carried on the analysis, the stability of duty ratio, turning state, the program to control the movement of the robot.
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XX大学200X届毕业设计说明书
目录
1 绪论 .............................................................................................................................. 1 1.1 机械手概述................................................................................................................ 1 1.2 机械手的组成和分类................................................................................................ 2 1.2.1 机械手的组成 ........................................................................................................ 2 1.2.2 机械手的分类 ........................................................................................................ 4 1.3 国内外发展状况........................................................................................................ 6 1.4 课题的提出及主要任务............................................................................................ 8 1.4.1 课题的提出 ............................................................................................................ 8
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XX大学200X届毕业设计说明书
1.4.2 课题的主要任务 .................................................................................................... 9 2 机械手的设计方案 .................................................................................................... 10 2.1 机械手的座标型式与自由度.................................................................................. 10 2.2 机械手的手部结构方案设计.................................................................................. 10 2.3 机械手的手腕结构方案设计.................................................................................. 11 2.4 机械手的手臂结构方案设计.................................................................................. 11 2.5 机械手的驱动方案设计.......................................................................................... 11 2.6 机械手的控制方案设计.......................................................................................... 11 2.7 机械手的主要参数.................................................................................................. 11 2.8 机械手的技术参数列表.......................................................................................... 12 3 手部结构设计 ............................................................................................................ 14 3.1 夹持式手部结构...................................................................................................... 14 3.1.1 手指的形状和分类 .............................................................................................. 14 3.1.2 设计时考虑的几个问题 ...................................................................................... 14 3.1.3 手部夹紧气缸的设计 .......................................................................................... 15 3.2 气流负压式吸盘...................................................................................................... 18 4 手腕结构设计 ............................................................................................................ 21 4.1 手腕的自由度.......................................................................................................... 21 4.2 手腕的驱动力矩的计算.......................................................................................... 21 4.2.1 手腕转动时所需的驱动力矩 .............................................................................. 21 5 手臂结构设计 ............................................................................................................ 25 5.1 手臂伸缩与手腕回转部分..................................................................................... 25 5.1.1 结构设计 .............................................................................................................. 25 5.1.2 导向装置 .............................................................................................................. 26 5.1.3 手臂伸缩驱动力的计 .......................................................................................... 26 5.2 手臂升降和回转部分............................................................................................. 27 5.2.1 结构设计 .............................................................................................................. 27 5.3 手臂伸缩气缸的设计............................................................................................. 28 5.4 手臂伸缩、升降用液压缓冲器............................................................................. 31
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XX大学200X届毕业设计说明书
5.5 手臂回转用液压缓冲器......................................................................................... 32 6 结论 ............................................................................................................................ 33 参考文献 .......................................................................................................................... 34 致谢 .................................................................................................................................. 36
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