本科论文_履带机器人的结构设计与建模.docVIP

本 科 毕 业 设 计 （论 文） 履带机器人的结构设计与建模 题 目 __________________________________ __________________________________ qq 570343127履带机器人的结构设计与建模 摘 要 机器人在现代战争中，尤其是反恐战争中有着不可替代的地位，无论是作为拆弹机器人，侦查机器人还是战斗机器人，都能极大的简化任务过程，减少人员伤亡与财产损失。履带式机器人虽然行动较慢，运转阻力大，但是通过性强，可以翻越障碍物，爬楼梯，负载能力高，所以成为了军用机器人的首选。 论文中先用了大量的的篇幅进行理论的论证与各种结构模式的选择，进行了详细的对比后，找到最合适的设计方案。在后续的章节中对机器人的各个部分进行了详细的结构设计。在设计过程中，充分考虑到了机器人的功能性，机构合理性，并且尽量的控制了加工的难度与成本。最终设计出一种以完成拆弹任务为主的中型履带机器人平台，在拥有一切履带机器人的优点的同时，可以通过更换不同的插件完成侦查，战斗任务。 关键词：通用机械；机器人平台；拆弹机器人；侦查机器人；战斗机器人； TRACKED ROBOT DESIGN AND MODELIN ABSTRACT Robots have an irreplaceable status in modern warfare, especially in anti-terrorists wars. Bomb-disposal robot, detection robot, and fighting robot, for instance, can greatly simplify the task of process, and reduce casualties and property losses. Although the crawler robot moves slowly and has great resistance on running, is has high passability that can climb over obstacles and stairs, and high load capacity. It has become the first choice for military uses. The thesis carries out demonstrations of theoretical arguments and a list of a variety of options for structure model first by using a considerable space, then defines the best alternative of designs after a detailed comparison. In the subsequent chapters, specific structural designs were conducted for each part of robots. In the design process, such as robot’s functionality and structural rationality was sufficiently taken into consideration, as well as the control of processing cost and difficulty. The final design, a bomb-disposal-task-oriented medium-sized tracked robot platform was completed. It has all the advantages of tracked robot, and can be switched to different plug-ins in order to bomb demolition, detection, and combat missions. KEY WORDS: general machinery; robot platform; bomb disposal robot; detection robot; fighting robot; 目 录  TOC \o 1-3 \h \z \u  HYPERLINK \l _Toc265650651 前言  PAGEREF _Toc265650651 \h 1  HYPERLINK \l _Toc265650652 1履带机器人的运动分析  PAGE