四履带搜救机器人的结构设计—移动平台设计.doc

摘 要 分析了国内外履带式机器人的研究现状,讨论了履带式机器人在机械结构、稳定性和控制方法等方面的现有研究方法,列举了履带式机器人研究中存在的问题,展望了履带式机器人的发展方向。由于某些原因，没有上传完整的毕业设计（完整的应包括毕业设计说明书、相关图纸CAD/PROE、中英文文献及翻译等），此文档也稍微删除了一部分内容（目录及某些关键内容）如需要的朋友，请联系我的叩扣:二二壹五八玖一壹五一，数万篇现成设计及另有的高端团队绝对可满足您的需要. 为发挥四履带双摆臂机器人的最佳越障性能，本文从运动学的角度，在固定双履带机器人越障机理的基础上，分析了四履带双摆臂机器人克服台阶、斜坡、沟道等典型障碍的运动机理及其最大越障能力，重点研究了四履带双摆臂机器人正向和反向两种攀越台阶方式的运动机理及其最大越障能力。本文推导出机器人的最佳越障性能及对应的质心和摆臂的位置，可为机器人越障时质心位置的控制提供理论依据． 本设计的重点在于机器人的移动平台结构设计，由于机器人整体的设计难度较大，材料和机构精度要求较高，本设计为此类设计提供了较成熟的设计方案。 关键字：机器人；质心；越障；攀越台阶；履带底盘； Abstract What this design was a section of marching fire robot foundation level carrier, the design content walks the chassis including the design and swing arm and the retarder as well as has made the concrete analysis to robots partial stress situation. Trial manufacturing overall robot structure. In the design trial manufacturing process, the unceasing observation analyzes other robots structure, absorbs the predecessor to experience, carries on the plan quite to designate. And goes down to the factory to process one to carry on the study, brings to completion the processing technique of manufacture, avoids stepping onto only pauses the written design to be separated from the actual manufacture the tortuous path. The current status domestic and overseas with respect to tracked mobile robots was surveyed, and the existing research approaches in terms of theme chinacal structure, stability and control algorithms of tracked mobile robots were described. To conclude, the problems to be solved were stated and the future development of tracked mobile robots was discussed. For performing the best obstacle-surmounting capability of four-track robot with two swing arms, obstaclesur mounting mechanism of the four-track robot with two swing arms and its capabilities of surmounting obstacles, including step and slope-climbing, and channel-crossing, are analyzed from the viewpoint of kinematics based on the obstaclesur mounting mechanism of the fixed two-track robot. Its motion mecha