0222-輪式移動(dòng)機(jī)器人的結(jié)構(gòu)設(shè)計(jì),輪式,移動(dòng),挪動(dòng),機(jī)器人,結(jié)構(gòu)設(shè)計(jì) 輪式移動(dòng)機(jī)器人的結(jié)構(gòu)設(shè)計(jì) 摘要：隨著機(jī)器人技術(shù)在外星探索、野外考察、軍事、安全等全新的領(lǐng)域得到日益廣泛的采用，機(jī)器人技術(shù)由室內(nèi)走向室外，由固定、人工的環(huán)境走向移動(dòng)、非人工的環(huán)境。本課題是機(jī)器人設(shè)計(jì)的基本環(huán)節(jié)，能夠?yàn)楹罄m(xù)關(guān)于機(jī)器人的研究提供有價(jià)值的平臺(tái)參考和有用的思路。 本文介紹了已有的機(jī)器人移動(dòng)平臺(tái)的發(fā)展現(xiàn)狀和趨勢(shì)，分析操作手臂常用的結(jié)構(gòu)和工作原理，根據(jù)選定的方案對(duì)帶有機(jī)械臂的全方位移動(dòng)機(jī)器人進(jìn)行本體設(shè)計(jì)，包括全方位車輪旋轉(zhuǎn)機(jī)構(gòu)的設(shè)計(jì)、車輪轉(zhuǎn)向機(jī)構(gòu)的設(shè)計(jì)和機(jī)器人操作臂的設(shè)計(jì)。要求全方位移動(dòng)機(jī)構(gòu)轉(zhuǎn)向、移動(dòng)靈活，可以快速、有效的到達(dá)指定地點(diǎn)；機(jī)械臂操作范圍廣、運(yùn)動(dòng)靈活、結(jié)構(gòu)簡(jiǎn)單緊湊且尺寸小，可以快速、準(zhǔn)確的完成指定工作。設(shè)計(jì)完成后要分析全方位移動(dòng)機(jī)構(gòu)的性能，為后續(xù)的研究提供可靠的參考和依據(jù)。 關(guān)鍵字：機(jī)器人移動(dòng)平臺(tái) 操作臂 簡(jiǎn)單 快速準(zhǔn)確 Structure design of wheeled mobile robots Abstract: with the robot technology in an alien exploration, field survey, military and security new areas to be increasingly widely adopted, robot technology by indoor, outdoor by fixed, to move towards artificial environment, the artificial environment. This topic is the basic link, robot design for the follow-up about robots can provide valuable reference and useful ideas platform. This article summarizes the existing robot mobile platform development status and trends of operating the arm structure and principle of common, According to the selected scheme of mechanical arm with ontology omni-directional mobile robots designed, including the design of all-round wheel rotating mechanism, wheel steering mechanism of design and the design of robot manipulator. Request to change direction, move the omni-directional mobile institution, can quickly and effectively flexible the reaches the specified location; Mechanical arm operation scope, sports flexible, simple and compact structure and size is small, can quickly and accurately completed tasks. The design is completed to analyze the performance of the omni-directional mobile institutions for subsequent research, provide reliable reference and basis. Keywords: Robot mobile platform manipulator simple accurate and quick