一種爬梯機(jī)械人的設(shè)計(jì)【三維SW】[樓梯機(jī)器人-采用三星輪]【含8張CAD圖紙+PDF圖】

一種爬梯機(jī)械人的設(shè)計(jì)【三維SW】[樓梯機(jī)器人-采用三星輪]【含8張CAD圖紙+PDF圖】,三維SW,樓梯機(jī)器人-采用三星輪,含8張CAD圖紙+PDF圖,一種,爬梯,機(jī)械人,設(shè)計(jì),三維,SW,樓梯,機(jī)器人,采用,三星,CAD,圖紙,PDF 一種爬梯機(jī)械人的設(shè)計(jì) [摘要] 在日常生活和生產(chǎn)中經(jīng)常要將重物搬上樓梯，傳統(tǒng)的方法基本是靠人力搬運(yùn)完成，有時(shí)由于重物太重或人手不足而無法搬運(yùn)，本課題就是為克服這個(gè)難題而設(shè)計(jì)的。本論文主要對(duì)爬樓機(jī)器人星型輪的傳動(dòng)機(jī)構(gòu)及控制系統(tǒng)進(jìn)行詳細(xì)設(shè)計(jì)。首先介紹了國內(nèi)外爬樓機(jī)器人研究現(xiàn)狀，闡明本課題研究的目的、意義。然后進(jìn)一步介紹了本爬樓機(jī)器人總體結(jié)構(gòu)。在深入分析爬樓機(jī)構(gòu)及其攀爬對(duì)象的基礎(chǔ)上，設(shè)計(jì)了相對(duì)優(yōu)勢(shì)較明顯的輪組結(jié)構(gòu)爬樓機(jī)器人。對(duì)機(jī)器人小車的運(yùn)動(dòng)學(xué)模型進(jìn)行分析，論證小車實(shí)現(xiàn)任意曲線運(yùn)動(dòng)所包含的自轉(zhuǎn)、直線前進(jìn)、圓弧前進(jìn)三個(gè)基本運(yùn)動(dòng)單元的可行性。引入虛擬樣機(jī)技術(shù)，通過Pro/Engineer三維建模并進(jìn)行模擬運(yùn)動(dòng)仿真。文章最后研究設(shè)計(jì)了在各種環(huán)境下，以單片機(jī) C8051F310 為核心的爬樓控制系統(tǒng)。在控制系統(tǒng)中，采用超聲波傳感器的對(duì)稱排列，獲取了自主上樓梯所必須地兩個(gè)關(guān)鍵參數(shù)θ和 q；對(duì)驅(qū)動(dòng)大功率電機(jī)的電路進(jìn)行分析，設(shè)計(jì)了更適合大功率，更安全的電機(jī)驅(qū)動(dòng)電路，直流馬達(dá)配合高功率MOSFETⅡ型驅(qū)動(dòng)器。 關(guān)鍵詞：爬樓機(jī)器人；三星輪； MOSFET驅(qū)動(dòng)電路；單片機(jī) C8051F310 Abstract Abstract Moving weight from up and down is required in our daily activities and productivities, and it was done by hand. While it is too heavy or short –handed to finished in some times. This thesis is designed to overcome the obstacles and it gives a detailed designing on transmission device and control system of star-like wheel of stair-climbing robot. Firstly ,it introduced a current situation of stair-climbing robot at home and abroad, clarified the purposes and meanings, introduced a overall structure of stair-climbing robot. After deeply analysis the stair-climbing frame and the object, designed a wheelsets stair-climbing robot with more advantages than others . Analyzed the kinematics model of the robot car,and demonstrate the available of achieving any curve movement with the rotation, straight forward, and arc forward . Robot can achieve track controlling based on speed matching. With the aid of virtual prototyping technology, through the 3D software of Solid Works, the dynamic analysis of the stair-climbing robot is carried out in ADAMS. At last, the thesis design the controller system with the core of C8051F310 based on rule environment ，In the control system, with the help of arranged ultrasonic sensors, get the two key parameters θ and q which import for climbing staircase Analyzed the circuit of high-power motor driving, design a more suitable circuit than IC L298N.Which is dc generator with highly efficient driving MOSFETⅡ. Key words：Stair-climbing robot；Three–star wheels；MOSFET driving circuit；Single chip microcomputer C8051F310 目錄 目錄 [摘要] I Abstract II 第一章 引言 1 1.1 課題研究的目的和意義 1 1.2 移動(dòng)機(jī)器人的發(fā)展概況 1 1.3 爬樓梯機(jī)器人目前的研究狀況 4 1.4 論文研究的主要內(nèi)容 6 第二章 爬樓機(jī)器人的總體設(shè)計(jì) 8 2.1 爬樓機(jī)器人的設(shè)計(jì)要求 8 2.2 爬樓機(jī)器人的總體方案 8 第三章 爬樓機(jī)器人傳動(dòng)、輪組及轉(zhuǎn)向機(jī)構(gòu)設(shè)計(jì) 11 3.1爬樓梯機(jī)器人小車的執(zhí)行電機(jī)選擇 11 3.1.1技術(shù)指標(biāo) 11 3.1.2電機(jī)選型 11 3.2爬樓機(jī)器人的機(jī)構(gòu)設(shè)計(jì) 13 3.2.1 機(jī)器人小車傳動(dòng)機(jī)構(gòu)設(shè)計(jì) 13 3.2.2傳動(dòng)部件的設(shè)計(jì)與校核 15 3.2.3爬樓機(jī)器人轉(zhuǎn)向機(jī)構(gòu)設(shè)計(jì) 19 3.2.4機(jī)器人小車結(jié)構(gòu)設(shè)計(jì) 20 3.3爬樓機(jī)器人小車三維實(shí)體建模 22 3.3.1 Pro/E軟件介紹 22 3.3.2三維實(shí)體建模 22 3.4 爬樓機(jī)器人小車行駛性能分析 23 3.4.1可跨越最大垂直障礙高度 23 3.4.2最小轉(zhuǎn)彎半徑 24 第四章 爬樓機(jī)器人控制系統(tǒng)設(shè)計(jì) 26 4.1 機(jī)器人爬樓梯的控制目標(biāo) 26 4.2 機(jī)器人的體系結(jié)構(gòu)及系統(tǒng)組成 26 4.3控制系統(tǒng)主要硬件的選擇 28 4.3.1單片機(jī)的選型 28 4.3.2傳感器的選擇 29 4.4機(jī)器人控制系統(tǒng)的程序編制 31 第五章 總結(jié)與展望 38 5.1全文總結(jié) 38 5.2展望 38 致 謝 III 參考文獻(xiàn) IV 第一章 引言 自盤古開天辟地，人類誕生以來，人們就一直用智慧開辟著完美的生活！進(jìn)入新的 21世紀(jì)，人類除了致力于自身的發(fā)展外，還十分關(guān)注機(jī)器人、外星人和克隆人等問題。機(jī)器人正是本論文研究的對(duì)象。