一種爬梯機(jī)械人的設(shè)計【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【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,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難題而設(shè)計的。本論文主要對爬樓機(jī)器人星型輪的傳動機(jī)構(gòu)及控制系統(tǒng)進(jìn)行詳細(xì)設(shè)計。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)及其攀爬對象的基礎(chǔ)上，設(shè)計了相對優(yōu)勢較明顯的輪組結(jié)構(gòu)爬樓機(jī)器人。對機(jī)器人小車的運(yùn)動學(xué)模型進(jìn)行分析，論證小車實現(xiàn)任意曲線運(yùn)動所包含的自轉(zhuǎn)、直線前進(jìn)、圓弧前進(jìn)三個基本運(yùn)動單元的可行性。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)動仿真。文章最后研究設(shè)計了在各種環(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稱排列，獲取了自主上樓梯所必須地兩個關(guān)鍵參數(shù)和 q；對驅(qū)動大功率電機(jī)的電路進(jìn)行分析，設(shè)計了更適合大功率，更安全的電機(jī)驅(qū)動電路，直流馬達(dá)配合高功率MOSFET型驅(qū)動器。 關(guān)鍵詞：爬樓機(jī)器人；三星輪； MOSFET驅(qū)動電路；單片機(jī) C8051F310AbstractAbstractMoving 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 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 MOSFET.Key words：Stair-climbing robot；Threestar wheels；MOSFET driving circuit；Single chip microcomputer C8051F310目錄目錄摘要IAbstractII第一章 引言11.1 課題研究的目的和意義11.2 移動機(jī)器人的發(fā)展概況11.3 爬樓梯機(jī)器人目前的研究狀況41.4 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82.1 爬樓機(jī)器人的設(shè)計要求82.2 爬樓機(jī)器人的總體方案8第三章 爬樓機(jī)器人傳動、輪組及轉(zhuǎn)向機(jī)構(gòu)設(shè)計113.1爬樓梯機(jī)器人小車的執(zhí)行電機(jī)選擇113.1.1技術(shù)指標(biāo)113.1.2電機(jī)選型113.2爬樓機(jī)器人的機(jī)構(gòu)設(shè)計133.2.1 機(jī)器人小車傳動機(jī)構(gòu)設(shè)計133.2.2傳動部件的設(shè)計與校核153.2.3爬樓機(jī)器人轉(zhuǎn)向機(jī)構(gòu)設(shè)計193.2.4機(jī)器人小車結(jié)構(gòu)設(shè)計203.3爬樓機(jī)器人小車三維實體建模223.3.1 Pro/E軟件介紹223.3.2三維實體建模223.4 爬樓機(jī)器人小車行駛性能分析233.4.1可跨越最大垂直障礙高度233.4.2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264.1 機(jī)器人爬樓梯的控制目標(biāo)264.2 機(jī)器人的體系結(jié)構(gòu)及系統(tǒng)組成264.3控制系統(tǒng)主要硬件的選擇284.3.1單片機(jī)的選型284.3.2傳感器的選擇294.4機(jī)器人控制系統(tǒng)的程序編制31第五章 總結(jié)與展望385.1全文總結(jié)385.2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象。