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I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，机器人可以分为关节机器人和移动机器人两种，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，而移动机器人恰恰克服了这一技术难题，随时随地的移动大大的增加了机器人的使用区间，使得机器人能够更加方便快捷的完成各项任务。移动机器人相比普通关节机器人增加了移动机构，移动的方式多种多样，有腿式移动机构，轮式移动机构，履带式移动机构等等，选择何种移动方式决定了移动机器人的工作性质和内容。本篇论文中提出了一种结构巧妙、机动性好、稳定性能高的多功能履带式机器人设计方案，本方案对履带式机器人技术进行深入分析研究，其工作原理是：利用履带式机器人的双节双履带进行支撑机器人本体进行移动，通过调整两节履带的角度来翻越障碍，最终实现机器人自由移动的目的。多功能履带式机器人作为一种新型的移动机器人，对此进一步的研究也是不能忽视的。关键词：机器人；移动机器人；履带式机器人IIAbstractWiththecontinuousdevelopmentofChina'sreformandopeningup,China'seconomicconstructionandtechnologyapplicationshavebeenhigh-speedandstabledevelopment,therobothasbecomeamanufacturingandprocessingindustryessentialessentialequipment,robotscanbedividedintojointrobotandmobilerobottwo,jointrobotUsuallythecaseisfixed,soitsworkingrangeisverylimited,andmobilerobotsjusttoovercomethistechnicalproblems,anytime,anywherethemobilegreatlyincreasedtheuseoftherobotrange,makingtherobotcanmorequicklyandeasilycompletethetask.Comparedwiththecommonrobot,themobilerobothasincreasedthemovementmechanism,themovementwayisvaried,thelegmovementmechanism,thewheelmovementmechanism,thecrawlermovementmechanismandsoon.Whatkindofmovementmodeisselecteddeterminestheworkingnatureofthemobilerobotandcontent.Thispaperpresentsamulti-functionalcrawlerrobotdesignschemewithcleverstructure,goodmobilityandhighstability.Theschemeisbasedonthedeepanalysisofthecrawlerrobottechnology.Theworkingprincipleisthattheuseofthedouble-Sectionofthedoubletracktosupporttherobotbodytomove,byadjustingtheangleofthetwotrackstocrosstheobstacles,andultimatelyachievethepurposeoffreemovementoftherobot.Multi-functioncrawlerrobotasanewtypeofmobilerobot,thisfurtherstudycannotbeignored.Keywords:robot，Mobilerobots,CrawlerrobotsIII目录Abstract......................................................................................................................................................II目录.....................................................................................................................................................III第一章绪论..............................................................................................................................................11.1引言...................................................................................................................................................11.2移动机器人的发展概况....................................................................................................................11.3Solidwork软件的介绍.......................................................................................................................21.4有限元分析的介绍...........................................................................................................................31.5课题研究的意义及目的...................................................................................................................4第二章多功能履带式机器人的设计...................................................................................................52.1多功能履带式机器人的设计要求.................................................................................................52.2多功能履带式机器人的设计概述...............................................................................................52.2.1多功能履带式机器人与其他类型移动机器人原理的对比.....................................................52.2.2多功能履带式机器人与其他类型移动机器人特点的对比.....................................................82.2.3多功能履带式机器人的设计参数............................................................................................82.3多功能履带式机器人的具体设计...............................................................................................82.3.1机器人底座结构设计..............................................................................................................92.3.1.1行走电动机的设计与选型......................................................................................................92.3.1.2减速器齿轮的设计................................................................................................................122.3.1.3齿轮齿数的选择....................................................................................................................132.3.1.4直齿圆柱齿轮静力及接触分析的理论计算........................................................................142.3.1.5直齿轮静力及接触的有限元分析........................................................................................172.3.1.6链传动的设计........................................................................................................................192.3.2机械手臂结构设计...................................................................................................................212.3.2.1机械手臂转动电机的设计与选型........................................................................................212.3.2.2机械手臂转动结构的设计....................................................................................................23第三章总结与展望..................................................................................................................................24参考文献.......................................