机器人移动平台设计_毕业论文.doc

机器人移动平台设计 摘 要 Abstract Coal mine disasters, especially gas and coal dust explosion, mine environment is very complex and wounded tolls mine face extremely dangerous conditions, be transferred as soon as possible and rescue; and rescue work extremely difficult and dangerous, often resulting in the rescue work in the ambulancecasualties.R D to replace or partially replace the ambulance personnel in a timely manner, quick in-depth environmental exploration and mine disaster relief robot search and rescue work is extremely important. The purpose of this thesis is to design novel structure, its unique portable, shock intelligently tracked mobile robot, in order to be able to adapt to the harsh environment and the complicated road to work.Mobile systems loaded by different modules, search and rescue robots can be achieved using different functions, this study is important because other peoples search and rescue robot designed to provide a basis for the dynamic platform to facilitate greater use of features can developsearch and rescue robots. This resetarch program is moving search and rescue robot crawler reconfigurable archiecture.The program is modular in design, easy disassembly maintenance, can be complex adaptive sub-surface, active control can turn on both sides of flange module to adjust the robot pose changes, supporting climbing,obstacle and cross-channel;The design of the robot moving mechanism mainly consists of four components: Active wheel reducer drive mechanism, flange rotation institutions, adaptive road implementing agencies, sports organizations track and track wheels, part of the paper on the above programs were carried out feasibility studies, structural designcalculation, 3D modeling , and design a rescue robot prototype. Key words: search and rescue robots; composite mobile body; modular design 前言 １ 1绪论 ３ 1.1课题研究背景及意义 ３ 1.1.1研究意义 ３ 1.1.2研究现状 ４ 1.1.3研究思路和需要重点解决的技术问题 ６ 1.1.4发展趋势 ８ 1.2课题内容及其参数要求 ９ 1.2.1课题主要解决的问题 ９ 1.2.2遇到的主要问题 １０ 1.2.3.解决问题的方法