摘 要在科学技术的日益发展与进步的今天，许多得行业领域，都有一些相对比较危险的工作不适合工人亲自动手完成，针对这种情况，有越来越多的机器人被开发出来。同时，由于社会发展的需要，同样应用领域内对具有复杂环境有稳定的移动和工作能力的机器人的需求也增加了。履带式机器人因其在复杂地形的移动的能力大大超过普通的轮式机器人。履带式机器人因其具有很强的跨沟、爬坡、越障等能力，进而使得越来越多的人更加关注履带式机器人的研究。84558

履带式探索机器人的设计与研究涉及很多方面的只是，其中包括机械结构的分析与建模，单片机的使用与控制系统的设计，无线传输设备的使用，机械强度的校核，串口通信还有图像处理技术。本次毕业设计的内容是基于8051单片机的履带式探索机器人包括其软件和硬件的控制系统，设计其结构和编写程序设计控制系统使其实现能在复杂的地形行走，并通过的使用四自由度机械手臂和自身搭载的二自由度摄像设备，并且支持无线遥控控制。以此来成功胜任检测，勘察等可靠性要求较高的工作，也可以在某些危险的环境下，代替人完成任务。

毕业论文关键词：51单片机；履带式机器人；PROE建模；远程遥控

Abstract   Nowadays, With the development and progress of science。 many industries, there are some relatively dangerous work is not suitable for workers personally completed。 In view of this situation, more and more robots have been developed。 At the same time, due to the need of social development, the demand of the robot with complex environment and stable moving and working ability is also increased in the same field。 Because of its ability to move in complex terrain, the crawler robot is much more than ordinary wheeled robot。 Crawler robot because of its has strong across the ditch, climbing, obstacle and competencies, which makes more and more people pay more attention to the research of tracked robot。

   Crawler exploration robot design and research involves many aspects , which includes the analysis and modeling of the mechanical structure, the use of the microcontroller and control system design, the use of wireless transmission equipment, check the mechanical strength, serial communication and image processing technology。 The content of this graduation design is based on 8051 crawler exploration robot, including the software and hardware of the control system, the structure design and preparation of programming control system makes it possible to walk in complex terrain, and through use four degrees of freedom mechanical arm and equipped with two degree of freedom camera equipment, and support for wireless remote control。 In order to succeed in the detection, investigation and other reliability requirements of higher work, but also in some dangerous circumstances, to replace people to complete the task。

Key words: 51 single chip microcomputer; tracked robot; PROE modeling;   remote control

 目  录

第一章  绪论 1

1。1 本文的研究目的和意义 1

1。2 本课题涉及的问题在国内（外）研究状况与发展趋势。2

1。3 本课题的研究内容 4

    第二章  履带式机器人的三维模型设计及样机实现。5

2。1 机器人本体结构设计。5

      2。1。1 机械手臂。。5

      2。1。2 摄像设备。。6

      2。1。3 车体与电机。。6

2。2 基于PROE三维建模 7

     2。2。1 机械手臂的三维建模7