【正文】 濰坊科技學(xué)院學(xué)士論文 摘要 直進(jìn)輪式機(jī)器人行走機(jī)構(gòu)的設(shè)計(jì) 摘要 隨著 科技的不斷發(fā)展，對(duì)于外星球與未知地域探索的增加，使得機(jī)器人的應(yīng)用顯得越來(lái)越重要，隨著機(jī)器人的發(fā)展，其漸漸地走向了成熟，由原來(lái)的室外工作走向了室內(nèi)工作， 由 原來(lái) 固定 的 人工環(huán)境 逐漸的 走向 移動(dòng)式的 非人 類 工 作 環(huán)境。 在現(xiàn)階段，機(jī)器人的研究已經(jīng)在研究領(lǐng)域顯的非常重要。無(wú)論是在軍事還是服務(wù)業(yè)等都得到了充分的應(yīng)用，用無(wú)線方式接收信號(hào)的方式實(shí)施有效控制，按照人類預(yù)想的實(shí)行快速有效地完成移動(dòng)。輪式機(jī)器人有其明顯的特點(diǎn)，機(jī)構(gòu)簡(jiǎn)單并且活動(dòng)十分靈活這使得輪式機(jī)器人備受青睞。另外移動(dòng)機(jī)器 人有全方位與非全方位兩種形式。同樣的，輪式移動(dòng)機(jī)構(gòu)在類型方面也有很多，一般的輪式機(jī)構(gòu)，很難定位和定向，然而全方位機(jī)構(gòu)則可以利用本身所具有的輪式結(jié)構(gòu)特點(diǎn)來(lái)很好的實(shí)現(xiàn)定位和定向的功能，其自身的輪式結(jié)構(gòu)使得在很多場(chǎng)合尤其具有優(yōu)越性；比如說(shuō)狹窄的彎道地域，全方位機(jī)器人靈活自如，原地零半徑旋轉(zhuǎn)，很輕松的轉(zhuǎn)彎。其精準(zhǔn)的的定位功能，其在未來(lái)的應(yīng)用與發(fā)展當(dāng)中有著不可或缺的功能，這勢(shì)必會(huì)影響未來(lái)機(jī)器人的發(fā)展。 本文正是本著對(duì)機(jī)器人未來(lái)的發(fā)展為基石，結(jié)合全方位機(jī)器人對(duì)未來(lái)不可磨滅的貢獻(xiàn)，在其原有的基礎(chǔ)上進(jìn)一步完善功能，設(shè)計(jì)出了 一種新型的機(jī)器人機(jī)構(gòu)。使得機(jī)器人功能的最大化，以便于做為防爆，探索，偵查等工作的一個(gè)搭載平臺(tái)。文章在基于一系列的先進(jìn)平臺(tái)上，研究一種全方位的多功能機(jī)器人，各個(gè)獨(dú)立運(yùn)行的驅(qū)動(dòng)系統(tǒng)，再加上其所擁有的智能系統(tǒng)化模板，這些有機(jī)的相結(jié)合為后面的繼續(xù)研究，提供了一個(gè)良好的平臺(tái)。此次本文提出了一個(gè)運(yùn)動(dòng)控制的方案，其特有的雙向電機(jī)獨(dú)立驅(qū)動(dòng)，形成雙驅(qū)動(dòng)動(dòng)力，搭載特有單片機(jī)模塊的控制系統(tǒng)，實(shí)現(xiàn)了機(jī)器小車的全方位移動(dòng)。借此來(lái)完善機(jī)器人對(duì)彎道及溝壑的越障能力。 關(guān)鍵詞 ：控制系統(tǒng) 機(jī)構(gòu)設(shè)計(jì) 驅(qū)動(dòng)機(jī)構(gòu) 濰坊科技學(xué)院學(xué)士論文 摘要 ABSTRACT With robotics in extraterrestrial exploration, field trips , military, security and other new areas to be increasingly widespread adoption of robotics from the indoor to outdoor , fixed , moving toward the artificial environment , not artificial environment. Mobile robots have bee an important branch of robotics research. In many occasions, military, dangerous operation and the service has been applied , you need to receive realtime robot control mands wirelessly to the desired speed, direction and trajectory flexible and fortable to move . Because of wheeled robot mechanism which is simple, flexible features activities particularly favored. The mobile features can be divided into non mobile robot round and round two kinds. The type of wheel movement mechanism is also a lot for the average wheeled mobile mechanism can not be arbitrary location and orientation, and a full range of moving agencies can use the wheel has the positioning and orientation function , can be realized in a twodimensional plane the movement from its current location in any direction without the need to change the attitude of the body , in some cases there are obvious advantages 。 such as when a narrow or crowded places of work , full moving mechanism for its zero turning radius and flexibility free to walk through. In addition, many require precise positioning and high accuracy trajectory tracking time, full movement mechanism can position their minor adjustments . As the round wheel moving mechanism has a unique characteristic of the general wheeled mobile mechanism can not be replaced , for the study of mobile robot to walk in an important sense, bee the development trendof the robot moving bodies. In this paper, a multipurpose mobile robot as research object, and bine robotics development in our country , to further raise the current number of functions and the need to further meet the needs of performance indicators, designed a new type of robot mechanism . Robot mechanism can be used as a platform equipped with detec tion, investigation, and explosionproof operation. In this paper, the behavior of wheeled mobile robot control based on multi sensor technology, both hardware and software aspects of mobile robot architecture , robot design , motion control ponents , such as expanded indepth study and discussion , a motion control scheme is proposed , and behavior control system for mobile robots . To improve the robot on the corners and gully climbing obstacle capability . Keywords : Control system drive mechanism design agency. 濰坊科技學(xué)院學(xué)士論文 目錄 目錄 1引言 .................................................................................................................................... 1 簡(jiǎn)介 ............................................................................................................................. 1 發(fā)展概況 ...................................................................................................................... 1 在國(guó)內(nèi)外研究現(xiàn)狀 ........................................................................................................ 2 背景及意義論文 ............................................................................................................ 4 論文的主要內(nèi)容 ............................................................................................................ 6 2輪式機(jī)器人的運(yùn)動(dòng)控制 .............................................................................................. 8 2． 1 移動(dòng)機(jī)器人控制系統(tǒng)設(shè)計(jì) ......................................................................................... 8 原理 ........................................................................................................................ 8 元器件的選擇 .......................................................................................................... 8 移動(dòng)機(jī)器人在平臺(tái)上的總體結(jié)構(gòu) .............................................................................. 9 移動(dòng)機(jī)器人硬件 系統(tǒng)系統(tǒng) ........................................................................................... 9 移動(dòng)機(jī)器人的電源和驅(qū)動(dòng)模塊 ...................................................................................10 移動(dòng)機(jī)器人傳感器系統(tǒng) ..............................................................................................10 移動(dòng)機(jī)器人運(yùn)動(dòng)控制研究 .......................................................................................... 11 3輪式機(jī)器人設(shè)計(jì) ...........................................................................................................16 移動(dòng)機(jī)器人結(jié)構(gòu)分析 ....................................................................................................16 驅(qū)動(dòng)機(jī)構(gòu) ...................................................................................................................16 車輪 .......................................................................................