移動(dòng)機(jī)器人機(jī)械手的結(jié)構(gòu)設(shè)計(jì)及分析【全套含CAD圖紙和三維模型】

移動(dòng)機(jī)器人機(jī)械手的結(jié)構(gòu)設(shè)計(jì)及分析【全套含CAD圖紙和三維模型】,全套含CAD圖紙和三維模型,移動(dòng),挪動(dòng),機(jī)器人,機(jī)械手,結(jié)構(gòu)設(shè)計(jì),分析,全套,cad,圖紙,以及,三維,模型 目 錄 摘 要 II Abstract III 第一章 緒論 1 1.1研究背景及意義 1 1.2國(guó)內(nèi)外研究及發(fā)展現(xiàn)狀 2 第二章 總體方案設(shè)計(jì) 4 2.1設(shè)計(jì)參數(shù)及功能要求 4 2.1.1設(shè)計(jì)技術(shù)參數(shù) 4 2.1.2功能要求 4 2.2方案選定 4 2.2.1車體方案設(shè)計(jì) 4 2.2.2手臂方案設(shè)計(jì) 5 2.3原理分析分析 5 2.3.1主要機(jī)構(gòu)工作原理 5 2.3.2運(yùn)動(dòng)特性分析 6 2.3.3手臂原理分析 7 第三章 機(jī)器人運(yùn)動(dòng)分析及主電機(jī)的選擇 8 3.1運(yùn)動(dòng)分析 8 3.1.1跨越臺(tái)階 8 3.1.2 跨越溝槽 9 3.3.3 斜坡運(yùn)動(dòng)分析 9 3.2主電機(jī)的選擇 10 第四章 零部件的設(shè)計(jì)與選擇 14 4.1履帶（同步帶）部分設(shè)計(jì) 14 4.1.1同步帶的選擇 14 4.1.2確定主從動(dòng)輪直徑 16 4.1.3確定節(jié)線長(zhǎng)度 17 4.1.4確定最大功率時(shí)帶寬 18 4.1.5功率驗(yàn)算 20 4.1.6同步帶的物理機(jī)械性能 20 4.1.7同步帶主從動(dòng)輪設(shè)計(jì) 21 4.2副履帶（同步帶）部分設(shè)計(jì) 23 4.2.1計(jì)算同步帶的帶寬 24 4.2.2計(jì)算H帶的基準(zhǔn)額定功率 25 4.2.3中心距的選擇 25 4.2.4計(jì)算同步帶節(jié)線長(zhǎng)度 25 4.2.5車體副履帶搖臂設(shè)計(jì) 26 4.3機(jī)械手臂部分設(shè)計(jì) 26 4.3.1電機(jī)的選擇 26 4.3.2大、小臂設(shè)計(jì) 28 4.3.3手爪、手腕設(shè)計(jì) 29 第五章 基于Pro/E的三維設(shè)計(jì) 32 5.1 Pro/E三維設(shè)計(jì)軟件概述 32 5.2三維設(shè)計(jì) 32 5.2.1車體 32 5.2.2主履帶 33 5.2.3副履帶 33 5.2.4手臂、手腕 33 5.2.5三維裝配 34 總 結(jié) 35 參考文獻(xiàn) 36 致 謝 37 摘 要 移動(dòng)機(jī)械手是用于處置或銷毀爆可疑、危險(xiǎn)物品的專用器材，避免不必要的人員傷亡。它可用于多種復(fù)雜地形進(jìn)行移動(dòng)。此設(shè)計(jì)的移動(dòng)機(jī)械手可實(shí)現(xiàn)回轉(zhuǎn)、上下移動(dòng)，夾持并且能過坑、越障等動(dòng)作。 此設(shè)計(jì)移動(dòng)方案的選擇是采用了履帶式驅(qū)動(dòng)結(jié)構(gòu)，而手臂部分則采用關(guān)節(jié)式機(jī)構(gòu)。結(jié)構(gòu)整體使用模塊化設(shè)計(jì)，以便后續(xù)拆卸維修，可以適應(yīng)于各種復(fù)雜的路面，并可主動(dòng)控制兩側(cè)搖臂的轉(zhuǎn)動(dòng)來調(diào)節(jié)機(jī)器人的運(yùn)動(dòng)姿態(tài)，從而達(dá)到輔助過坑、越障等動(dòng)作。經(jīng)過合理的設(shè)計(jì)后機(jī)器人將具有很好的環(huán)境適應(yīng)能力、機(jī)動(dòng)能力并能承受一定的掉落沖擊，此設(shè)計(jì)的移動(dòng)機(jī)構(gòu)主要由四部分組成：電機(jī)的選擇、主履帶設(shè)計(jì)、副履帶設(shè)計(jì)、臂部及手腕設(shè)計(jì)。 本文首先根據(jù)課題所給的技術(shù)參數(shù)和功能要求提出移動(dòng)機(jī)械手車體結(jié)構(gòu)方案，并對(duì)方案進(jìn)行分析。接著，對(duì)主要技術(shù)參數(shù)進(jìn)行了計(jì)算選擇；然后，對(duì)各主要零部件進(jìn)行了設(shè)計(jì)與校核；最后，通過AutoCAD制圖軟件繪制了移動(dòng)機(jī)械手車體結(jié)構(gòu)裝配圖及主要零部件圖。 關(guān)鍵詞：移動(dòng)機(jī)械手；手臂；手腕；同步帶 Abstract Mobile robot is used for the disposal or destruction of explosive suspicious, special equipment, dangerous goods, to avoid unnecessary casualties. It can be used to move a variety of complex terrain. The design of the mobile robot can achieve rotation, moving up and down, gripping and lead a pit, obstacle and other activities. Select this design is the use of mobile solutions crawler drive structure, and the arm part articulated mechanism is used. Modular design of the overall structure for subsequent maintenance of the demolition, can be adapted to a variety of complicated road, and take the initiative to control the rotation on both sides to adjust the robot arm athletic stance, so as to assist the over pit, obstacle and other activities. After a reasonable design robots will have a good environmental adaptability, mobility and can withstand the impact of falling, this design is moving mechanism is mainly composed of four parts: selection of the motor, the main track design, deputy track design, arm section and wrist design. This paper proposes moving mechanical structure handcart scheme according to subjects given technical parameters and functional requirements, and program analysis. Next, the main technical parameters were calculated selection; then, all the major parts and components for the design and verification; and finally, through the AutoCAD drawing software to draw a handcart moving mechanical structure and main parts assembly drawing FIG. Keywords: Bobile robot; Arm; Wrist; Belt 4