移动式目标拾取机器人设计+CAD图纸
毕业论文关键字： 移动结构；机器人手臂；机器人手爪；视觉导航
Pickup target mobile robot
Abstract
With fast development in China, have an increasingly higher demand for industrial robots, robots replace workers to operate certain actions are becoming more and more common. In these actions there is an action: ask the robot to move certain objects, and objects in the specified place. And robots or obstacles in the environment must be able to recognize and avoid it. This is in the context of this study, study mainly robot mobile mechanism, robot arms and grab the body, robot Visual control system. Mobile Agency paper on the four maikenamu wheel as robots move bodies to achieve zero RADIUS rotating in-place. Robot with 360-degree rotating one degree of freedom, before and after arm retractable 3-DOF robot would be able to grasp objects. Robot gripper parts used balls at the end of gripper for objects of type "picked up" gesture, instability and prevent objects from hand grab falling
Keywords: Mobile structure；Robot arm；Robotic gripper； Visual navigation
目 录
1 绪论 - 1 -
1.1 机器人技术&机器人视觉技术简介 - 1 -
1.1.1 机器人技术简介 - 1 -
1.1.2 机器视觉技术简介 - 3 -
1.2 机器人智能抓取技术 - 4 -
1.2.1 机器人视觉控制的已有研究成果 - 4 -
1.3 课题的背景和意义 - 5 -
1.4 课题的设计任务 - 6 -
2 机器人移动结构设计 - 7 -
2.1 引言 - 7 -
2.2 机械设计的基本要求 - 7 -
2.3 全方位轮式移动机构的设计 - 7 -
2.3.1 移动机构选型 - 7 -
2.3.2 运动学分析 - 8 -
2.3.3 移动平台设计 - 10 -
2.3.4 驱动机构电机的选型与计算 - 11 -
2.4 本章小结 - 14 -
3 机械手臂的设计 - 15 -
3.1 手臂执行器的设计 - 15 -
3.1.1 机械手臂末端执行器设计要求 - 15 -
3.1.2 末端执行器的设计选择 - 15 -
3.1.3 电机的选型与计算 - 17 -
4 机械材料的选择和零件的校核 - 19 -