摘要搬运机器人是一种采用机械结构代替人类对物体进行搬运的近代技术，其结构一般是由移动底盘和机械手组成。根据所需搬运物体的的空间位置状态和形状尺寸的不同，可以选取合适的执行机构来完成工作，这样不仅可以降低工人的劳动强度，还能有效地提高工作效率。目前，世界上已经有超过10万台的搬运机器人投入到实际生产中，如码头货物搬运、工厂车间零件下料等劳动强度大的工作。86322

    本课题主要是研究移动搬运机器人的机械结构设计与运动仿真，文章将搬运机器人的机械结构设计分为全方位移动底盘和六自由度机械臂两大部分。

(1)详细讲述了全方位移动底盘的四—Mecanum轮、减震系统、底盘框架、电机、蜗轮蜗杆减速器等组成部分。阐述了Mecanum轮的全方位移动原理与结构分析、选型以及六种典型的四轮轮系布局形式等内容。根据设计要求来设置全方位移动底盘的零部件尺寸结构参数，在Solidworks上进行建模，按照它的运动特性与结构设计对零部件进行配合，组成完整的移动底盘。

(2)本设计中的六自由度机械臂按构造可分为机座、腰部、大臂、小臂、手腕、手部、平行四杆机构等七部分。根据要求设计各零部件参数，选择驱动与传动元件，在Solidworks上进行三维建模装配。

(3)最后基于ADAMS平台对搬运机器人进行运动学与动力学仿真，模拟搬运机器人在地面的前后移动、横向侧移、斜向运动、原地旋转这四个运动。

根据仿真分析的结果：搬运机器人能够实现地面的三自由度运动，且运动性能良好，能准确、稳定地行走，机械手则在空间内具备六自由度。而根据样机调试结果表明：移动搬运机器人最大直线移动速度能达到0。75m/s，机械手关节转动速度能达到设计要求。

毕业论文关键词：Mecanum轮；搬运机器人；机械结构；虚拟样机仿真

Abstract Handling robot is a modern technology that instead of manual handling by mechanical structure, this structure is usually composed of mobile platform and manipulator。 You can choose the appropriate actuator to complete the work according to the different of the location , size and shape of moving objects , this can not only reduce the labor intensity of workers, also can effectively improve the work efficiency 。At present , more than 100000 handling robot has been set into actual production in the world, it is used in the labor intensity work such as port cargo,  plant parts handling and so on。

The research object is the mechanical design and simulation of the mobile robot handling，this article introduces the two parts of the handling robot include a omni-directional mobile platform and a freedom manipulator。 

(1)It introduces the omni-directional mobile platform which include the four Mecanum wheel, damping system, chassis frame, motor, worm gear units and so on。 Expounding the principle and structure analysis of Mecanum wheels , six kinds of the four wheels' layout form。 Designing the size and structure of the the omni-directional mobile platform's parts as requested and modeled in Solidworks, forming a complete mobile platform according to its movement characteristics and structure design by the parts。

(2)The design of the freedom manipulator constructed in accordance can be pided into seven parts include base, waist, arm, forearm, wrist, hand, parallel to the four institutions。 Designing the parts parameters according to the design requirement and choose the drive components and transmission components, modeling and assembly on Solidworks。

(3) Finally, using the ADAMS for the handling robot' simulation of kinematics and dynamics, simulate the four movements of handling robot like around the ground, horizontal lateral, diagonal movement, spin around。