摘要：我们所熟知的有移动机器人野外考察，外星探究等，机器人技术现已发展到各个领域之中。在危险区域和服务业等许多场合有效的为人类所用，移动机器人技术已成为一种势不可挡的发展趋势。人们可以以无线命令方式遥控机器人以期望的速度、方向、和预期设定的轨迹来完成一些替代人的工作。本课题主要研究服务类型的机器人，希望能为后续有关服务机器人提供有用的思路和有价值的研究意义。

本次毕业设计说明书主要介绍国内外已有移动机器人移动机构的发展现状和趋势，并仔细分析了移动机器人移动平台的常用方式及结构和工作原理。全方位移动机构可以灵活自由的移动，该移动方式的有优点就是在拥挤或者狭窄的工作环境或场合，具有明显的灵活性。此外，在许多需要高精度移动轨迹和高精度移动定位的地方，这种独特移动特点是一般轮式移动机构无法替代的。所以全方位移动机器人对人们有着非常重要的研究意义，未来移动机器人的发展趋势一定和全方位移动机构有着密切联系。本文的研究重点对象就是全方位移动机器人移动机构，设计完成后要仔细校核全方位移动机器人的结构性能，为后续全方位移动机器人提供有效数据和保障。71998

毕业论文关键词： 全方位移动机器人；移动机构；轮式移动机器人 

 Mobile robot movement mechanism

Abstract: We are familiar with the mobile robot field study, alien exploration, robot technology has been developed into various fields。 In the dangerous areas and services and many other occasions for the effective use of mankind, mobile robot technology has become an irresistible trend of development。 People can remotely control the robot with the desired speed, direction, and the expected set of tracks to complete some of the work of alternative people。 This topic mainly studies the type of robot, hoping to provide useful ideas and valuable research significance for the follow-up service robot。

This graduation design brochure mainly introduces the current situation and trend of the mobile robot movement at home and abroad, and analyzes the common way and structure and working principle of mobile robot mobile platform。 Omnidirectional mobile mechanism can be flexible and free to move, the way the movement has the advantage of crowded or narrow working environment or occasion, with obvious flexibility。 In addition, in many places requiring high-precision moving trajectories and high-precision mobile positioning, this unique mobile feature is the general wheel-type mobile mechanism can not be replaced。 Therefore, all-round mobile robot has a very important research significance for people, the future development trend of mobile robots and all-round mobile institutions must be closely linked。 The research object of this paper is the mobile robot of all directions。 After the design is completed, the structural performance of all-round mobile robot should be carefully checked to provide effective data and guarantee for the follow-up omni-directional mobile robot。

Key Words: Omnidirectional mobile robot; mobile mechanism; wheeled mobile robot。

目  录

1  绪论 1

1。1  引言 1

1。2  国内外移动机器人的研究现状 1

1。3  主要研究内容 4

2  移动机器人移动机构设计任务 4

2。1  移动机构设计的内容 4

2。2  移动机构设计参数 5

2。3  移动机构方案拟定