毕业设计说明书四足仿生移动机器结构设计.docVIP

河工大 毕业设计说明书 作 者： 学 号： 系： 机械工程学院 专业： 机械设计制造及其自动化 题 目： 四足仿生移动机器人结构设计 指导者： 张 副教授 评阅者： 2013年 5月 29日 毕业设计（论文）外文摘要 四足仿生移动机器人结构设计 摘要： 本，它包括由电机带动的从而实现的仿 关键词： 机器人 四足 仿生 带传动 毕业设计（论文）外文摘要 Title ：The Quadruped Mobile Robot Structure Design Abstract: The design is the quadruped mobile robot, it can be controlled remotely and have actions autonomously . It includes a leg structured on body, driven by servo motors, and a control device on the body, leg structure is divided into the hip, thigh, knee, ankle joint, foot, control four degree of freedom variables by four servo motors, so as to realize the bionic robot move. The mobile robot can adapt to complex and unpredictable unstructured environment. In the condition of ensuring sufficient strength, stiffness, the overall quality should be restricted, in order to reduce the driving sources consumption, which makes the robot flexible design. The weight of body is 15KG, using LY2 hard aluminum alloy which is light and strong as the leg structural materials, the average mobile speed is designed greater than or equal to 0.4m/s, the agency itself consists of 12 degrees of freedom, it can move flexibly, and have strong obstacle and environment adaptability, in the implementation of planetary exploration, battlefield reconnaissance, EOD, disaster relief and other more complex risk environment it also have a strong adaptability. Keywords： Robot Bionic Quadruped Belt transmission 目 次 1 概述 - 1 - 1.1 绪论 - 1 - 1.2 国内外研究现状及关键技术 - 1 - 1.3 本课题主要研究内容 - 5 - 2 四足仿生移动机器人的结构设计原则及要求 - 5 - 2.1 四足仿生移动机器人的总体方案确定 - 5 - 2.2 机器人机械结构及传动设计 - 9 - 3 电机的确定 - 13 - 3.1 各关节最大负载转矩计算 - 13 - 3.2 机器人驱动方案的对比分析及选择 - 14 - 3.3 驱动电机的选择 - 15 - 4. 带传动设计 - 21 - 4.1 各参数设计及计算 - 21 - 4.2 带型选择及带轮设计 - 21 - 5工作装置的强度校核 - 23 - 5.1 轴的强度校核 - 23 - 5.2 轴承的选型 - 25 - 结 论 - 26 - 参 考 文 献 - 27 - 致 谢 - 29 -