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1、本科畢業(yè)設(shè)計(論文)題目:連桿吸盤越障系統(tǒng)設(shè)計專題題目:新型越障式-高空清潔衛(wèi)士學(xué)院:機(jī)電工程學(xué)院專業(yè):機(jī)械工程及其自動化班級:xxxxx學(xué)號:xxxxx學(xué)生:xxxx指導(dǎo)教師:職稱:教授指導(dǎo)教師:職稱:時間:xxxx年xx月摘要機(jī)器人的開發(fā)和應(yīng)用,拓展了人類的生產(chǎn)能力,解放了危險環(huán)境下的工作人員,極大地推動了人類科技革命和社會進(jìn)步,多足式爬壁機(jī)器人屬于極限作業(yè)機(jī)器人的一種,廣泛應(yīng)用于清洗,消防,檢測等多個行業(yè)。本文在國內(nèi)外現(xiàn)有壁面移動機(jī)器人研究成果的基礎(chǔ)上。結(jié)合壁面作業(yè)的特點(diǎn)對壁面機(jī)器人的吸附技術(shù)
2、,行走技術(shù)進(jìn)行了研究分析,并創(chuàng)造性的提出了壁面越障技術(shù),本文主要的研究工作如下:首先,追溯國內(nèi)外壁面機(jī)器人研究的歷史背景、總體類別與特點(diǎn),及其發(fā)展態(tài)勢,總結(jié)出壁面攀爬機(jī)器人的研究特點(diǎn)和關(guān)鍵技術(shù)所在。其次,本文根據(jù)機(jī)器人實(shí)際工作的要求,主要對高空清潔衛(wèi)士機(jī)器人越障系統(tǒng)中的腿部機(jī)構(gòu)、吸附結(jié)構(gòu),驅(qū)動機(jī)構(gòu)構(gòu)型設(shè)計。最后,本文在結(jié)構(gòu)件的設(shè)計過程中,同時考慮輕量化和安全可靠性要求,對機(jī)器人的吸附、越障機(jī)構(gòu)進(jìn)行了強(qiáng)度校核和優(yōu)化設(shè)計。關(guān)鍵詞::壁面越障;腿式結(jié)構(gòu);真空吸盤;機(jī)構(gòu)設(shè)計;周期性步態(tài)AbstractThe
3、developmentandapplicationofrobotshaveexpandedourproductioncapacityofthehumanbeings,aswellasemancipatedpersonnelworksinhazardousenvironments,greatlypromotedscientificandtechnologicalrevolutionandhumansocialprogress.Amultileggedwallclimbingrobotwhichbelo
4、ngstothelimitoftherobot,iswidelyusedincleaning,fireprotection,detectionandotherindustries.Basedontheexistingdomesticandforeignmobilerobotwallsurfaceontheresearchresultsof.Accordingtothecharacteristicsofthewalloperationadsorptiontechnologytowallrobot,wa
5、lkingtechnologyisstudiedandanalyzed,andcreativelyputforwardthewallclimbingtechnique,themainresearchworkofthisarticleareasfollows:Firstly,thehistoricalbackground,theoverallclassificationandcharacteristicsofdomesticresearchonoutersurfaceofthedevelopingsi
6、tuationandtherobottraces,andlater,summeduptheresearchcharacteristicandthekeytechnologyofwallclimbingrobot.Secondly,intheendofthispapertherobotconceptdesign,thispaperintroducesUnigraphicsNXmodelandmodelingmethod,andtakingthelegmechanismasanexample,intro
7、ducestheUnigraphicsplatformofNXpartsandassemblydesign,andsimulationresultsundertheSimulationsimulationplatform.Again,thispaperclearlyonthewallrobotbasedontheconstraintconditionsandthebasicfunction,carriesontheanalysisandthedesignofwallclimbingrobotgait
8、,elaborateperiodicgaitanditsrealizationways,fullydemonstratedtheperiodicgaitandtheprincipleofrobot.Keywords:Finally,basedonthedesignprocessofstructuralparts,consideringtherequirementsoflightweightandsafereliability,adsorption,obstaclecr