ROBOCON比赛机器人毕业设计

毕业设计（论文）-I-中文摘要本课题的目的是针对2008亚太机器人大赛的主题和规则设计制作一台手动机器人。本文首先分析了本届比赛的特点，阐述了比赛的总体方案，提出了手动机器人的任务目标和主要技术参数。在此基础上，设计了三套整体结构方案，并通过三维实体建模和样机实验等方式分析了各方案的优缺点，完成了对整体结构方案的优化与改进，确定了手动机器人的机构组成。之后，对机器人的各组成机构进行了详细设计，完成了走行方式、提升机构形式和夹持机构形式的设计与改进，进行了电机选型计算和关键零件的校核，绘制了机器人的零件图和装配图，解决了在机器人的组装和调试过程中发现的一些问题。设计并制作完成的手动机器人结构简洁，动作迅速，操控灵活，性能稳定，得分效率高，完全满足设计要求。关键词：亚太机器人大赛，手动机器人，方案设计，机构设计毕业设计（论文）-II-AbstractThepurposeofthissubjectistodesignamanualrobotfortheAsian-PacificRobotContest2008.Afteranalyzingthecharacteristicsofthiscontest,thepaperfirstlyelaboratesthegeneralstrategy,andthenproposesthetasksandmainrequirementsforthemanualrobot.Basedonthat,threestructuralschemesoftherobotaredesigned,andthenoptimizationsandimprovementsareaccomplishedthroughanalyzingofthe3Dmodelsandrobotprototypes.Sothemechanismswhichcomposedthemanualrobotaredetermined.Afterthat,detailsofthemechanismsaredesigned;improvementsaremadeforthemovingstyle,theelevatingandclampingmechanismswhichareselected.Motorsareselectedaccordingtocomputation,keypartsarechecked,anddrawingofpartsandassemblagearegiven.Someproblemsaresolvedthroughdebugging.Themanualrobot’sstructureisverysimple,anditmovesfast,scoresefficiently.Furthermore,itisveryconvenienttocontroltherobot.Inaword,itsatisfiestherequirementsofdesign.Keywords：Asian-PacificRobotContest,Manualrobot,Schemedesign,Mechanicaldesign毕业设计（论文）-III-目录中文摘要..............................................................................................................................IAbstract...............................................................................................................................II第1章绪论........................................................................................................................11.1机器人及机器人竞赛...........................................................................................11.2ABU-Robocon概述..............................................................................................21.3ABU-Robocon2008主题与规则摘要.................................................................31.4章节概述...............................................................................................................6第2章规则分析以及参赛总体方案................................................................................82.1规则分析...............................................................................................................82.2参赛总体方案的确定.........................................................................................112.3手动机器人的功能要求和主要技术参数.........................................................13第3章整体结构方案设计与改进.................................................................................153.1方案一.................................................................................................................173.1.1设计思路..................................................................................................173.1.2动作顺序.................................................................................................193.1.3分析与总结..............................................................................................203.2方案二.................................................................................................................213.2.1设计思路..................................................................................................213.2.2动作顺序.................................................................................................233.2.3分析与总结..............................................................................................233.3方案三.................................................................................................................243.3.1设计思路与总体结构..............................................................................243.3.2优化与改进..............................................................................................25第4章机械系统设计.....................................................................................................324.1走行系统设计.....................................................................................................324.1.1走行方式选择..........................................................................................324.1.2走行电机选择..........................................................................................344.1.3走行系统结构形式及外形尺寸..............................................................404.2提升机构设计.....................................................................................................414.2.1优化与改进.............................................................................................424.2.2相关计算与校核......................................................................................484.3夹持机构设计.....................................................................................................52第5章操作手柄设计......................................................................................................54毕业设计（论文）-IV-5.1操作方式和按键布局设计...........................................................