摘要：本设计是关于服务机器人行走机构的设计。主要部分为麦克纳姆轮及其安装位置的设计。行走机构的设计主要包括传感器类型，麦克纳姆轮及其安装配件的选择以及轴的安装。安装位置的设计是基于麦克纳姆轮能够正常使用以及符合应力要求的。本设计要求能在运行过程中满足任务书中的性能和参数要求。服务机器人要想自由移动，就需要对应的自主移动技术及其机构。或许由于各自功能不同需要其他的辅助技术，但是作为需要移动的功能模块来说，有一些共同问题，比如如何使使自主移动所需要的方向控制、行动驱动和位置传感能够标准化、机器人在移动过程中对问题的实时处理、整体机构的通信集成如何处理等。并且本次设计是为了满足学校的教学要求与课程发展的需求，设计出一个服务机器人行走机构，使学生在学习的知识领域、动手能力、创新设计能力等都有所提高。42310

毕业论文关键词： 服务机器人；行走机构；传感器；餐饮机器人；麦克纳姆轮；

 Design of walking mechanism for service robot

Abstract: This design is about the design of the service robot walking mechanism. The main part is the design and installation position of the Mecanum wheel. Design of walking mechanism mainly includes the sensor type, and the choice of Mecanum wheel mounting accessories and shaft installation. Design and installation position of the Mecanum wheel can be used normally and meet the requirement of stress based on the. The design requirements can meet the requirements of performance and parameters in the task book in the course of operation. The service robot wants to move freely, it needs the corresponding autonomous mobile technology and its mechanism. Perhaps due to their different need other assistive technology, but as mobile modules, there are some common problems, such as how to enable autonomous mobile direction control and drive action and position sensing to standardization, the robot in the movement. In the process of real-time processing, the whole mechanism of integrated communication how to deal with such. And this is designed to meet the needs of school teaching and curriculum  

development, design a service robot walking mechanism, so that students in learning knowledge, hands-on ability, innovative design ability and improve.

Key Words: Service robot; walking mechanism; sensor; catering robot; Mecanum wheel;

目 录

1序言 2

　1.1 前言 ...2

　1.2服务机器人行走机构概述....3

　1.2.1 服务机器人行走机构的组成.4

　1.2.2 机器人行走机构设计的目的.4

　1.3 服务机器人行走机构的主要性能参数...5

　1.3.1 传感器的选择5

　1.4 行走机构的原始条件.5

　1.5 设计的研究范围....5

2 设计内容及设计步骤 ..6

2.1 驱动轮的选择与计算6

2.2 电机的选择与计算....9

2.3 传感器的选择与计算...12

2.4 轴承的选择与计算..14

2.5 联轴器的选择与计算...14

2.6 卡簧的选择....17

2.7 轴的设计与计算.17

2.8 键的选择...19

2.9 锁紧螺帽的选择.21

2.10 底座的设计..21

2.11 支持架的设计...22

2.12 连接件的选择...23

2.13 端盖的设计..23

3 校核计算.23

3.1 轴强度的校核计算..25

3.2 轴的扭转校核计算..26

3.3 键的校核计算27

4 总成设计.28

4.1 控制方式...28

4.2 尺寸确定...28

4.3 机械结构的设计与总成装配.30

5 结论....32