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本科毕业论文（设计）题目：履带式机器人结构设计学院：工学院姓名：摘要在微小型履带机器人方面美国走在了世界的前列，代表机器人有Packbot机器人，Talon机器人，NUGV等。我国微小型机器人的研究和开发晚于西方的一些发达国家，我国是从20世纪80年代开始机器人领域的研究的。其中具有代表性的有中国科学院研制的复合移动机器人“灵晰-B”型排爆机器人，“龙卫士DragonGuardX3B反恐机器人”，“JW-901排爆机器人”等。此设计的目的设计结构新颖，能实现过坑、越障等动作。通过在机器人机架上加装其他功能的模块来实现不同的使用功能，本研究的意义是为机器人提供一个动力输出平台，为开发各种功能的机器人提供基础平台。此设计移动方案的选择是采用了履带式驱动结构。结构整体使用模块化设计，以便后续拆卸维修，可以适应于各种复杂的路面，并可主动控制前后两侧摇臂的转动来调节机器人的运动姿态，从而达到辅助过坑、越障等动作。经过合理的设计后机器人将具有很好的环境适应能力、机动能力履带式机器人机构设计2并能承受一定的掉落冲击，此设计的移动机构主要由四部分组成：主动轮减速机构、翼板转动机构、自适应路面执行机构、履带及履带轮运动机构。关键词：履带机器人;履带移动机构;模块化设计AbstractIntermsofmicrosmallcrawlerrobotswalkintheforefrontoftheworldintheUnitedStates,onbehalfoftherobothasdisposalrobot,Talonrobot,NUGV,etc.Miniaturerobotresearchanddevelopmentinourcountrylaterthansomedevelopedwesterncountries,ourcountryfromthe1980sbegantoresearchinthefieldofrobot.OneofthetypicalcompositemobilerobotdevelopedbytheChineseacademyofsciences\normofspirit-B\typeeodrobots,\DragonGuardDragonGuardX3Banti-terrorismrobot\,\JW-901eodrobot\,etc.Thedesignisnovel,thepurposeofthisdesigncanachievepit,surmountingobstacles.Throughintherobotarmwithotherfunctionmodulestorealizedifferentusefunction,thesignificanceofthisstudyistoprovideapoweroutputforrobotplatform,providesthebasisforthedevelopmentofallsortsoffunctionofrobotplatform.Thisdesignisthechoiceofmobilesolutionsadoptedcrawlerdrivestructure.Structureoftheoveralluseofmodulardesign,inordertofollow-upmaintenance,removalcanbeadaptedtovariouscomplicatedroad,andcanturnoneithersideoftherockerarmbeforeandafteractivecontroltoregulatetherobot'smotion,soastoachieveauxiliarypit,surmountingobstacles.Afterreasonabledesignrobots履带式机器人机构设计3willhavegoodenvironmentaladaptability,mobilityandcanabsorbacertainamountofdropimpact,thisdesignofthemobilemechanismismainlycomposedoffourparts:thedrivingwheeldecelerationinstitutions,wingrotatingmechanism,adaptivepavementactuators,trackandtrackwheelmotionmechanism.Keywords:trackedrobot;trackedmobilemechanism;themodulardesign目录摘要................................................................................................................11引言................................................................................................................42履带机器人的现状及发展..........................................................................63履带机器人的运动特性................................................................................94本研究采用的行走机构............................................................................124.1行走机构的选择...............................................................................124.2履带机器人的功能、性能指标与设计...........................................134.3主要机构的工作原理.......................................................................145机器人越障分析........................................................................................155.1跨越台阶...........................................................................................155.2跨越沟槽...........................................................................................165.3斜坡运动分析...................................................................................176机器人移动平台主履带电机的选择........................................................196.1机器人在平直的路上行驶...............................................................196.2机器人在30°坡上匀速行驶..........................................................206.3机器人的多姿态越阶.......................................................................217移动机构的分析及其选择........................................................................237.1典型移动机构分析...........................................................................23履带式机器人机构设计47.2本研究采用的移动机构...................................................................278履带部分设计............................................................................................288.1履带的选择.......................................................................................288.2确定主从动轮直径...........................................................................318.5功率验算...........................................................................................388.6同步带的物理机械性能...................................................................388.7履带主从动轮设计...........................................................................398.8副履带部分设计...............................................................................429履带翼板部分设计.......................................................................................479.1履带翼板的作用...............................................................................479.2履带翼板设计...................................................................................4710计算履带装置的重心及其各部件重心....................................................4910.1主履带的重心计算.........................................................................4910.2副履带的重心计算.........................................................................5410.3主履带及其摇臂也就是副履带总部分的重心计算.....................55总结............................................................................................................