摘要：随着人类对自然界、外太空不停探索的步伐，各应用领域对在复杂环境下可移动式无人操控的机器人需求量日益增长。从历史的痕迹看，足式机器人是最先被开发研究的，然后才是轮式机器人。本文所研究设计的六轮足式移动机器人是为了满足更多复杂环境需要同时具备足式及轮式两种运动方式的要求。轮足式移动机器人结合了轮式机器人和足式机器人的优点,可以按照不同的环境变换轮式或足式两种运动方式,具有更强的地形适应能力、更大的稳定性和更高的能量效率，对于新型移动式机器人的技术与运用有着重大的理论和现实意义，因此倍受各国技术研究人员的学术关注。42491

本文所设计的六轮足式移动机器人具有灵活的轮腿切换机构，实现小腿和大腿之间运动解耦，步行时脚轮对复杂路况有较大的适应能力，具有冗余肢体，可在失去若干肢体的情况下继续执行一定的工作。适合执行野外探查，水下侦查以及太空探查独立性，可靠性要求较高的任务。

毕业论文关键词：轮足式机器人；结构设计；适应性

The Desin Of Six Wheel-Legged Mobile Robot

Abstract：With human nature, outer space continue to explore the pace of demand for various application areas of robots in complex environments movable unmanned increasing. From the footsteps of history, the legged robot research is the first to be developed, then wheeled robot. This paper studied the design of six-legged mobile robot is to meet the need to have more complex environment requires legged and wheeled two sports mode. Wheel-legged robot combines the advantages of mobile wheeled robots and legged robot that can transform according to different environments or foot type two wheeled sport, has a strong ability to adapt to the terrain, greater stability and higher energy efficiency and the use of new technology for the mobile robot has important theoretical and practical significance, so much national attention of researchers.

This article is designed to move the six-legged robot with a flexible wheel leg switching mechanism, implement motion decoupling between the calf and thigh, when walking on the complex road wheels have a greater ability to adapt, with redundancy limb, several limbs can be lost continue to work under certain circumstances. Suitable for performing field exploration, underwater and in space exploration and other independent investigators, reliability, demanding task.

Key words:  Wheel-legged robot; structural design; adaptability  

目录

第一章 绪论 1

1.1国外研究综述 1

1.2国内研究综述 4

第二章 六轮足式移动机器人的结构设计 6

2.1电机的选择 6

    2.2减速器的选择: 6

    2.3齿轮的设计和校核 7

    2.4轴的计算和校核 11

2.4.1 轴上功率、转速和转矩的计算 11

        2.4.2 初步计算传动轴的轴径12

        2.4.3 轴的结构设计12

        2.4.4 按弯扭合成强度条件计算校核传动轴13

        2.4.5 轴的刚度校核计算16

    2.5键连接强度计算17

        2.5.1 带轮与输入轴间键的选择及校核17

        2.5.2 输出轴与齿轮间键的选择及校核18

        2.5.3 输出轴与联轴器间键的选择及校核18