【正文】 “登月車”模型玩具的相關(guān)機(jī)構(gòu)設(shè)計(jì)摘 要月面巡視探測器簡稱月球車，是探月工程探測器系統(tǒng)的重要組成部分。 月球車是多學(xué)科、高技術(shù)集成的復(fù)雜系統(tǒng)工程，涉及到機(jī)器人技術(shù)、無人駕駛技術(shù)、材料科學(xué)、信息技術(shù)、先進(jìn)制造技術(shù)、工藝技術(shù)等多個(gè)領(lǐng)域，對提升中國的自主創(chuàng)新能力，帶動相關(guān)產(chǎn)業(yè)發(fā)展，推進(jìn)月球探測、火星探測工程將產(chǎn)生深遠(yuǎn)影響?！暗窃萝嚒睓C(jī)器人模型玩具模仿登月車的功能和任務(wù)，運(yùn)用到工業(yè)機(jī)器人設(shè)計(jì)的理念和知識。產(chǎn)品具有良好的社會效益和經(jīng)濟(jì)效益，不僅能鼓舞廣大青少年探索宇宙的興趣和愛好，同時(shí)也是對機(jī)器人知識的一種很好的普及。本設(shè)計(jì)要求對“登月車”機(jī)器人模型玩具進(jìn)行詳細(xì)的設(shè)計(jì)、計(jì)算、校核、選型，以實(shí)現(xiàn)玩具廠家指定的功能，并整理成書面報(bào)告；要求繪制“登月車”模型玩具的整車裝配圖或結(jié)構(gòu)圖；要求獨(dú)立繪制車體部分裝配圖或部分組成部件的元件圖；要求獨(dú)立設(shè)計(jì)“登月車”模型玩具的電子控制系統(tǒng)，并繪制相應(yīng)的電路圖，編制相應(yīng)的控制程序。關(guān)鍵詞： 工業(yè)機(jī)器人 控制系統(tǒng) 虛擬技術(shù) 登月車The design of relevant configuration in Lunar vehicle model toyStudent: Zhou lingfu Advisor: Prof. Chen ningSchool of Mechanical and Automotive EngineeringZhejiang University of Science and TechnologyAbstractThis design simulates the basic action and the basic function of the moonrobot ,with the thinking of the design , according to major knowledge I give a concept to settle the problem in a proper way and synthesizely make use of a the principle knowledge to creative a new design for moonrobot , and plete drawings of parts , including the principle conceive of mechnical structure, the design of single chip control system。3 D conjecture assemble。 imitating the real sport。 the analysis and realizing of the key technique。 designing Chien39。s diagram of primarily structural。 design calculation and elucidation 。 subfooting of this design.Design request of the moonrobot: calculating in the way of laying up the machine arm of moonrobot, its length is smaller or same as 300mm,the width is smaller or same as 300 mm, the height is smaller or same as 300 mm。 the motivation can adopt the multiform prime power supply, Disallow to use the direct force of manpower to move the moonrobot，its power supply should for the safe power supply。 The key of the moonrobot’s main technique problem is:totightly cliping and turning over of the holding and clipping machinery。 unningmachinery turns the direction , runs and goes across the obstacle。 Heating up the machine hand 。PRO/ E conjecture design with 3 D conjecture assemble.Key words： industry robot control system virtual assembly design Lunar landing vehicle目錄摘 要 .......................................................................................................................................................IABSTRACT................................................................................................................................................II第一章 緒論...............................................................................................................................................1 選題的目的和意義..........................................................................................................................1 機(jī)器人..............................................................................................................................................3 20 世紀(jì)的偉大發(fā)明 ................................................................................................................3 機(jī)器人定義 .............................................................................................................................4 我國登月車需要解決的主要關(guān)鍵技術(shù) .................................................................................6 研究的主要內(nèi)容..............................................................................................................................7 設(shè)計(jì)要求..........................................................................................................................................7第二章 產(chǎn)品設(shè)計(jì)思路－虛擬設(shè)計(jì)技術(shù)...................................................................................................9 虛擬制造..........................................................................................................................................9 虛擬設(shè)計(jì)與制造環(huán)境的總體結(jié)構(gòu)..................................................................................................92．3 系統(tǒng)開發(fā)中的關(guān)鍵技術(shù) ..............................................................................................................102．4 原型系統(tǒng)的開發(fā) ..........................................................................................................................11 虛擬設(shè)計(jì)的常用軟件....................................................................................................................12 本設(shè)計(jì)采用的軟件－PRO /ENGINEER ...........................................................................................12第三章 登月車原理方案構(gòu)思和擬定.....................................................................................................13 整體方案及結(jié)構(gòu)設(shè)計(jì)....................................................................................................................13 機(jī)械結(jié)構(gòu)........................................................................................................................................15 實(shí)現(xiàn)翻越障礙的機(jī)械結(jié)構(gòu) ...................................................................................................15 實(shí)現(xiàn)插小旗、抓取木塊及實(shí)現(xiàn)木塊翻面的機(jī)械結(jié)構(gòu) .......................................................15 母車和子車行走部分方案設(shè)計(jì)....................................................................................................17 子車行走部分方案設(shè)計(jì) .......................................................................................................17 母車行走機(jī)構(gòu)方案設(shè)計(jì) .......................................................................................................20第四章 控制系統(tǒng)設(shè)計(jì).............................................................................................................................21 子車控制系統(tǒng)設(shè)計(jì)........................................................................................................................21 子車上的行走部分控制電路設(shè)計(jì)方案 ...............................................................................21 子車的機(jī)械臂轉(zhuǎn)動部分及機(jī)械手開合部分電路設(shè)計(jì)方案 ...............................................21 子車變速控制兩種方案的比較 ...........................................................................................22 方案一：改變電