摘要：随着人类的探索，在机器人的探索过程中单臂移动式机器人已逐渐成为机器人领域里一个非常重要的点，而其他一般的机器人，在作业范围与复杂操作的适应性，不及单臂移动式机器人。而在航空、风险作业和日常生活等很多方面，须机器人可随时接收无线通信下达的命令，并且能够达到预期的轨迹、速度和方向。单臂移动机器人是在通用六自由度机械臂的基础上增加了一个移动机器人平台，机器人的运作通过这个移动机器人平台大大提高，扩展了机械臂的应用范围，具有较强的实际应用价值。本文首先对移动机器人国内外发展现状进行了介绍，根据所需的要求提出单臂移动式机器人整体设计方案。进行了单臂移动式机器人的驱动电机、转向电机及机械臂关节电机的选型。进行了机器人的结构的详细设计和强度校核。最后提出了单臂移动式机器人的控制方案，并选择了传感器。63444
毕业论文关键词：机械臂；移动式；机器人
Arm mobile robot design
Abstract：With the exploration of mankind, the single-arm mobile robot has gradually become a very important point in the field of robot in the process of robot's exploration, while other general robots have less adaptability in operating range and complex operation than single-arm moving type robot. In the aviation, risk operations and daily life and many other aspects, the robot must be ready to receive the command issued by wireless communications, and can achieve the desired trajectory, speed and direction.The single-arm mobile robot adds a mobile robot platform on the basis of the universal six-degree-of-freedom manipulator. The operation of the robot is greatly enhanced by this mobile robot platform, which extends the application range of the robot arm. It has strong practical application value.In this paper, the development of mobile robots at home and abroad were introduced, according to the requirements of the proposed single-arm mobile robot overall design. The selection of the driving motor, steering motor and manipulator joint motor of the single-arm mobile robot is carried out. The detailed design and strength checking of the robot are carried out. Finally, the control scheme of single-arm mobile robot is proposed, and the sensor is selected.
Keywords：Manipulator；mobile；robot
目 录
1 绪论 1
1.1课题的背景和意义 1
1.2单臂移动式机器人国内外研究综述 1
1.2.1国外研究动态 1
1.2.2国内研究动态 3
2 系统方案 6
2.1设计的技术要求 6
2.2按传动方式设计结构 6
2.2.1整体视图 9
2.2.2局部视图 11
2.3机器人方案 12
3 结构设计 15
3.1减速器齿轮的设计 15
3.1.1功率、转矩和转速的确定 15
3.1.2减速轴齿轮的计算 16
3.1.3低速轴齿轮的计算 18
3.2减速器轴的设计 20
3.2.1减速器高速轴的设计 20
3.2.2减速器中间轴的设计 单臂移动式机器人设计+CAD图纸:http://www.youerw.com/jixie/lunwen_69932.html