3691 校園垃圾拾撿機器人控制機構設計

3691 校園垃圾拾撿機器人控制機構設計,校園,垃圾,拾撿,機器人,控制,節(jié)制,機構,設計 校園垃圾拾撿機器人控制機構設計I學校代碼：10410序 號：050387本 科 畢 業(yè) 論 文題目： 校園垃圾拾撿機器人控制機構設計 學 院： 工 學 院 姓 名： 陸 龍 學 號： 20050387 專 業(yè)： 機械設計制造及其自動化 年 級： 機制 051 指導教師： 饒洪輝 二 OO 九年 五 月 三 日校園垃圾拾撿機器人控制機構設計II摘要隨著經(jīng)濟的快速發(fā)展和人民生活水平的日益提高，垃圾排放量與日俱增，對環(huán)境的壓力越來越大，特別是校園這種人口密集的地方，每天都在制造垃圾，如廢紙、塑料、廢電池、果皮等。為了讓校園保持清潔就必須要費大的人力物力和財力等。如果設計一種校園撿垃圾機器人即可以解決很大的麻煩， 校園撿垃圾機器人機器人是一個集環(huán)境感知、動態(tài)決策與規(guī)劃、行為控制與執(zhí)行等多種功能于一體的綜合系統(tǒng)。撿垃圾機械手是由全液壓控制，機械手固定在移動平臺上構成的一類特殊的移動機器人系統(tǒng)。其中機械手用來實現(xiàn)如抓取、操作等動作，平臺的移動用來擴展機械手的工作空間，使機械手能以更合適的姿態(tài)執(zhí)行任務，機械手的加入也極大的提高了移動機器人的性能。關鍵詞: 校園；垃圾拾撿機器人；控制機構;校園垃圾拾撿機器人控制機構設計IIIAbstractWith the rapid economic development and increasing people's living standards, waste emissions by increasing the pressure on the environment increasing, especially in schools, in the manufacture of garbage every day, such as waste paper, plastics, batteries, fruit, etc. . In order for the campus must be kept clean on the charges of human material and financial resources and so on. If you design a campus that is garbage robot can solve a lot of trouble, the campus garbage robot is a robot environment-aware, dynamic decision-making and planning, such as acts of control and the implementation of multiple functions in one integrated system. Manipulator garbage from the entire hydraulic control, mechanical hand fixed in the mobile platform consisting of a special kind of mobile robot system. Manipulator which is used to achieve, such as crawling, operation moves to expand mobile platform, manipulator of the working space, so that robot can be a more appropriate gesture tasks, the addition of robot is also greatly improved the performance of the mobile robotKey words : road sweeper ; hydraulic system ;mobile manipulator校園垃圾拾撿機器人控制機構設計IV目錄摘要···································································································IIAbstract····························································································III第一章 緒論·····················································································11.1 移動機器人概述··················································································11.1.1 移動機器人的系統(tǒng)結構····································································11.1.2 移動機械手平臺系統(tǒng)······································································21.2 課題研究背景及意義···········································································2第二章 機器人工作原理································································4校園垃圾拾撿機器人控制機構設計V第三章 機器手整體設計································································53.1 機械手工作原理圖·················································································53.2 液壓系統(tǒng)控制油路圖·········································································53.3 液壓缸的選擇·····················································································63.3.1 爪子液壓缸的選擇······································································63.3.2 兩個手臂的油缸的選擇································································63.3.3 擺動液壓缸的選擇········································································73.4 液壓泵的選擇···················································································93.5 校核································································································103.6 其它元件的選擇·····················································校園垃圾拾撿機器人控制機構設計VI··························143.7 本章小結·······················································································14第四章總結·····················································································15參考文獻···························································································16