监狱夜巡机器人的机构设计与分析

发布时间：2018-05-30 20:43

本文选题：轮式移动机器人 + 机构设计　；参考：《电子科技大学》2017年硕士论文

【摘要】：由于某些工作危险系数比较高,并且我国老龄化问题日趋严重造成劳动力短缺,因此大力推进研发机器人越发重要起来。对于国民经济的发展,机器人在很多行业发挥了极大的作用,机器人能够完成人类无法完成的多种高危险性、高精密性以及高灵活性的工作任务,在很大程度上解放了人类的劳动力,提高了人类的劳动效率。据预测,在未来十年内,机器人产业将成为非常巨大的新型产业。本文主要介绍监狱夜巡机器人的设计及搭建,并基于此机器人平台进行嵌入式导航系统研究。移动机器人在众多领域(军事、农业、制造自动化、能源、服务等)有着广泛应用。由于轮式移动机器人有很多优势,所以监狱夜巡机器人选择以此为平台而设计。本文所做主要工作如下:1、根据项目需求,先了解学习了轮式移动机器人的底盘布局、运动模型分析之后,分别参与采用全向轮的四轮移动机器人底盘、三轮移动机器人底盘的建模,并为四轮移动机器人底盘设计悬挂结构,以便四个轮子能够同时着地,同时也起到减振作用。2、对夜巡机器人上部结构包括云台俯仰机构、旋转机构、升降机构进行设计,对部分关键零件进行强度校核,对其进行适当的优化;绘制夜巡机器人的零件工程图及装配图,团队审核过后将其整理成工程图册。参与夜巡机器人的装配及调试;参与部分电气和机械部件的选型、安装与调试。3、对全向移动底盘进行运动学及动力学分析,对传动轴及底盘顶板进行静力学分析,将悬挂机构简化为连杆机构进行分析,对夜巡机器人进行相关优化以改良。
[Abstract]:Due to the high work risk coefficient and the shortage of labor force caused by the aging problem in China, it is more and more important to promote the research and development of robots. For the development of the national economy, robots have played a great role in many industries. Robots can accomplish a variety of high risk, high precision and high flexibility tasks that cannot be accomplished by human beings. To a large extent, the human labor force has been liberated and human labor efficiency has been improved. It is predicted that in the next ten years, the robot industry will become a very large new industry. This paper mainly introduces the design and construction of prison night patrol robot, and studies the embedded navigation system based on this robot platform. Mobile robots are widely used in many fields (military, agriculture, manufacturing automation, energy, services, etc.). Because wheeled mobile robots have many advantages, prison night patrol robots are designed on this platform. The main work of this paper is as follows: 1. According to the requirements of the project, we first learned the chassis layout of the wheeled mobile robot. After analyzing the motion model, we participated in the four-wheeled mobile robot chassis with omnidirectional wheels, respectively. Modeling the chassis of the three-wheeled mobile robot, and designing a suspension structure for the four-wheel mobile robot chassis so that the four wheels can land on the ground simultaneously, and also play a dampening effect. 2. The upper structure of the night patrol robot includes a cloud head pitching mechanism. The rotating mechanism and lifting mechanism are designed to check the strength of some key parts and optimize them properly. The part engineering drawings and assembly drawings of the night patrol robot are drawn and sorted into engineering atlases after the team audit. Participate in the assembly and debugging of the night patrol robot, participate in the selection, installation and debugging of some electrical and mechanical components, analyze the kinematics and dynamics of the omnidirectional moving chassis, and carry out statics analysis on the drive shaft and the top plate of the chassis, The suspension mechanism is simplified as the linkage mechanism, and the related optimization of the night patrol robot is carried out to improve it.
【学位授予单位】：电子科技大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242

【参考文献】