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畢業(yè)設(shè)計(jì)（論文）
題目： 輪式移動(dòng)機(jī)器人的結(jié)構(gòu)設(shè)計(jì)
系 別 航空工程系
專業(yè)名稱 機(jī)械設(shè)計(jì)制造及自動(dòng)化
班級(jí)學(xué)號(hào) 088105406
學(xué)生姓名 鄧文文
指導(dǎo)教師 許瑛
二O一二 年 五 月
輪式移動(dòng)機(jī)器人的結(jié)構(gòu)設(shè)計(jì)
學(xué)生姓名：鄧文文 班級(jí)：0881054
指導(dǎo)老師：許瑛
摘要：本文首先對(duì)機(jī)器人的國(guó)內(nèi)為發(fā)展現(xiàn)狀做了介紹，同時(shí)根據(jù)設(shè)計(jì)要求對(duì)機(jī)器人的整體方案進(jìn)行了分析，包括幾何尺寸、控制芯片的選擇。然后從機(jī)器人性能要求的角度出發(fā)，分別對(duì)機(jī)器人的運(yùn)動(dòng)方式、模型結(jié)構(gòu)和車體成型方式做了比較，最終確定了非完整約束輪驅(qū)四輪式移動(dòng)結(jié)構(gòu)模型——后輪同軸驅(qū)動(dòng)，前輪轉(zhuǎn)向的輪型機(jī)器人。
本文對(duì)移動(dòng)機(jī)器人硬件結(jié)構(gòu)做了詳細(xì)的可行性分析及設(shè)計(jì)，并且做了相應(yīng)的計(jì)算、校核，主要包括：驅(qū)動(dòng)輪電機(jī)和轉(zhuǎn)向輪電機(jī)的選擇；齒輪的設(shè)計(jì)計(jì)算和校核；前后減震系統(tǒng)以及轉(zhuǎn)向機(jī)構(gòu)設(shè)計(jì)和車體的一些機(jī)械結(jié)構(gòu)設(shè)計(jì)等。對(duì)輪式移動(dòng)機(jī)器人的運(yùn)動(dòng)學(xué)特性進(jìn)行了分析，建立了不考慮滑行、剎車等的輪式移動(dòng)機(jī)器人的運(yùn)動(dòng)學(xué)模型。
最后，本文對(duì)所作研究和主要工作進(jìn)行了總結(jié)，并將設(shè)計(jì)的輪式機(jī)器人的結(jié)構(gòu)進(jìn)行聯(lián)合調(diào)試。實(shí)驗(yàn)結(jié)果表明，該系統(tǒng)性能穩(wěn)定、可靠，可控制性高，安全性高，達(dá)到了本設(shè)計(jì)的設(shè)計(jì)要求。
關(guān)鍵字：輪式移動(dòng)機(jī)器人 運(yùn)動(dòng)學(xué)模型 結(jié)構(gòu)設(shè)計(jì)
指導(dǎo)老師簽名：
The structural design of the wheeled mobile robot
Student name: Deng Wenwen Class: 0881054
Supervisor: Xu Ying
Abstract: First in the paper for the domestic present situation of the development of the robot is presented, and according to the design requirements of the overall plan for robots are analyzed, including geometry size and control chip choice. Then from the Angle of robot performance requirements respectively, the robot mode of motion, model structure and body forming method are compared, final nonholonomic constraint four wheel drive wheeled mobile structure model, rear wheel drive coaxial, front wheel steering wheel robot.
In this paper, the mobile robot hardware structure of a detailed feasibility analysis and design, and make the corresponding calculation, checking, mainly including: the drive wheels motor and motor turning wheels choice; The design of gear calculate and check; Before and after the damping system and steering mechanism design and some of the mechanical structure design of the body. Wheeled mobile robots to the kinematic characteristics, the paper builds don't consider taxi, brake of the robot kinematics model.
Finally, this paper study and main work are summarized, and the wheel will design the structure of the robot joint debugging. The experimental results show that the system has stable performance, reliable, but controlling high, high safety, achieve the design design requirements.
Keywords: wheeled mobile robots kinematics model structure design
Signature of supervisor: