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目 录
摘 要...........................................................................................................................................................I
Abstract...........................................................................................................................................................II
绪 论 ..........................................................................................................................................................1
1.1 项目概述.......................................................................................................................................1
1.2 目的及意义...................................................................................................................................1
1.3 国内外发展概况...........................................................................................................................2
1.4 主要研究内容...............................................................................................................................5
第二章 方案比较与方案选择 ........................................................................................................................6
2.1 行走机构方案比较.......................................................................................................................6
2.2 手臂机构方案比较.......................................................................................................................8
2.2.1 蠕动式机械臂.................................................................................................................8
2.2.2 沿 X、Y、Z 坐标轴直线移动机械臂...........................................................................9
2.2.3 仿人类手臂式机械臂.....................................................................................................9
2.3 机械手的设计.............................................................................................................................10
2.3.1 机械手主要组成:.........................................................................................................10
2.3.2 手部总体确定:.............................................................................................................10
2.3.3 手指式手部的类型.........................................................................................................10
2.3.4 手部要求:.....................................................................................................................11
2.3.5 设计时应注意的问题.....................................................................................................11
2.3.6 手指夹紧力的计算.........................................................................................................11
2.4 驱动力的计算...............................................................................................................................12
2.5 手臂的设计.................................................................................................................................12
2.5.1 设计时注意的问题.........................................................................................................12
2.5.2 动力的计算.....................................................................................................................13
第三章 整体机构设计 ................................................................................................................................14
3.1 爬楼梯的力学原理.....................................................................................................................14
3.2 回转盘机.....................................................................................................................................14
3.2.1 构设计机电动机选择......................................................................................................14
3.3 履带驱动轮机构设计机电动机选择.........................................................................................15
3.4 部分校核 主要参数计算方法及强度校核..................................................................................16
3.4.1 轮齿传动.....................................................................................................................................16
3.4.2 蜗杆传动.....................................................................................................................................19
3.4.3 螺纹连接.....................................................................................................................................26
3.5 本章小结........................................................................................................................................31
第四章 控制电路及控制器设计 ................................................................................................................33
4.1 控制电路设计................................................................................................................................33
4.2 开关元件选用...............................................................................................................................34
4.3 控制器设计...................................................................................................................................34
4.4 本章小结.......................................................................................................................................35
第五章 设计总结 ........................................................................................................................................37
参考文献 ........................................................................................................................................................38