畢業(yè)設(shè)計(jì)說明書(論文)作 者 :學(xué) 號(hào)：系 ： 機(jī)械工程系專 業(yè) : 機(jī)械工程及自動(dòng)化題 目 : 輪腿式移動(dòng)越障機(jī)器人驅(qū)動(dòng)裝置的研究 指導(dǎo)者： (姓 名) (專業(yè)技術(shù)職務(wù))評(píng)閱者： (姓 名) (專業(yè)技術(shù)職務(wù))講師畢 業(yè) 設(shè) 計(jì) 說 明 書 （ 論 文 ） 中 文 摘 要設(shè)計(jì)了一種能適應(yīng)不同野外環(huán)境的移動(dòng)機(jī)器人,其驅(qū)動(dòng)系統(tǒng)為輪腿式.利用輪腿結(jié)合的方式實(shí)現(xiàn)越障,具有很強(qiáng)的越障能力.機(jī)器人采用六輪腿結(jié)構(gòu).保障了機(jī)器人的平穩(wěn)性,本文對(duì)六輪腿式移動(dòng)越障機(jī)器人驅(qū)動(dòng)裝置整體結(jié)構(gòu)作了設(shè)計(jì),通過對(duì)車輪,腿臂,車身等進(jìn)行設(shè)計(jì),對(duì)電機(jī),制動(dòng)器,減速器等進(jìn)行選型,對(duì)機(jī)器人做了性能分析,步態(tài)分析.在 Pro/E 設(shè)計(jì)環(huán)境下,對(duì)整個(gè)機(jī)器人進(jìn)行裝配,排除干涉.驗(yàn)證結(jié)構(gòu)的正確性.并且在 CAD 內(nèi)畫出了機(jī)構(gòu)的裝配圖. 關(guān)鍵詞 機(jī)器人 越障機(jī)構(gòu) 六輪腿式 驅(qū)動(dòng)裝置畢 業(yè) 設(shè) 計(jì) 說 明 書 （ 論 文 ） 外 文 摘 要Title The design of multi-wheel restructureabl robot’walks drive systemAbstractDesign a robot work in different environment,it’movessubsystem is design as a leg-wheel type.It can cross very high obstacle,have very stong hindering ability. The robot adopts six legs mechanism. It has safeguarded the robot stability. In this paper, six legged mobile robot obstacle made the overall structure of the design drive, design on wheels, legs, arms, body, etc. Selecting on the motor, brake, reducer selection, etc. Doing performance analysis, gait analysis Of the robot. In the Pro / E design environment, the entire robot assembly, Exclude interference, verify the correctness of the structure . And draw the body within the CAD assembly drawing.Keywords robot Obstacle sector six leg-wheel system drive equipment