移動(dòng)機(jī)器人結(jié)構(gòu)設(shè)計(jì)【輪式移動(dòng)機(jī)器人】
移動(dòng)機(jī)器人結(jié)構(gòu)設(shè)計(jì)【輪式移動(dòng)機(jī)器人】,輪式移動(dòng)機(jī)器人,移動(dòng)機(jī)器人結(jié)構(gòu)設(shè)計(jì)【輪式移動(dòng)機(jī)器人】,移動(dòng),挪動(dòng),機(jī)器人,結(jié)構(gòu)設(shè)計(jì),輪式
無(wú)錫太湖學(xué)院
信 機(jī) 系 機(jī)械工程及自動(dòng)化 專業(yè)
畢 業(yè) 設(shè) 計(jì)論 文 任 務(wù) 書
一、題目及專題：
1、題目 移動(dòng)機(jī)器人結(jié)構(gòu)設(shè)計(jì)
2、專題
二、課題來源及選題依據(jù)
課題來源：導(dǎo)師提供
選題依據(jù)：近年來，人類的活動(dòng)領(lǐng)域不斷擴(kuò)大，機(jī)器人應(yīng)用也從制造領(lǐng)域向非制造領(lǐng)域發(fā)展。像海洋開發(fā)、宇宙探測(cè)、采掘、建筑、醫(yī)療、農(nóng)林業(yè)、服務(wù)、娛樂等行業(yè)都提出了自動(dòng)化和機(jī)器人化的要求。這些行業(yè)與制造業(yè)相比，其主要特點(diǎn)是工作環(huán)境的非結(jié)構(gòu)化和不確定性，因而對(duì)機(jī)器人的要求更高，需要機(jī)器人具有行走功能，對(duì)外感知能力以及局部的自主規(guī)劃能力等，是機(jī)器人技術(shù)的一個(gè)重要發(fā)展方向。目前國(guó)際機(jī)器人界都在加大科研力度，進(jìn)行機(jī)器人共性技術(shù)的研究，并朝著智能化和多樣化方向發(fā)展。
三、本設(shè)計(jì)（論文或其他）應(yīng)達(dá)到的要求：
① 設(shè)計(jì)移動(dòng)移動(dòng)機(jī)器人行走機(jī)構(gòu)的總體結(jié)構(gòu)和參數(shù)；
② 建立移動(dòng)機(jī)器人的運(yùn)動(dòng)學(xué)模型及機(jī)器人四輪轉(zhuǎn)向系統(tǒng)的動(dòng)力學(xué)模型；
③ 研究其穩(wěn)態(tài)特性、動(dòng)態(tài)特性和自主控制的問題，驗(yàn)證所研究機(jī)器人結(jié)構(gòu)參數(shù)的合理性。
四、接受任務(wù)學(xué)生：
機(jī)械93 班 姓名 趙熙熙
五、開始及完成日期：
自2012年11月12日 至2013年5月25日
六、設(shè)計(jì)（論文）指導(dǎo)（或顧問）：
指導(dǎo)教師 簽名
簽名
簽名
教研室主任
〔學(xué)科組組長(zhǎng)研究所所長(zhǎng)〕 簽名
系主任 簽名
2012年11月12日
編號(hào)
無(wú)錫太湖學(xué)院
畢業(yè)設(shè)計(jì)（論文）
相關(guān)資料
題目： 移動(dòng)機(jī)器人結(jié)構(gòu)設(shè)計(jì)
信機(jī) 系 機(jī)械工程及自動(dòng)化專業(yè)
學(xué) 號(hào)： 0923122
學(xué)生姓名： 趙熙熙
指導(dǎo)教師： 龔常洪（職稱：副教授 ）
（職稱： ）
2013年5月25日
目 錄
一、畢業(yè)設(shè)計(jì)（論文）開題報(bào)告
二、畢業(yè)設(shè)計(jì)（論文）外文資料翻譯及原文
三、學(xué)生“畢業(yè)論文（論文）計(jì)劃、進(jìn)度、檢查及落實(shí)表”
四、實(shí)習(xí)鑒定表
無(wú)錫太湖學(xué)院
畢業(yè)設(shè)計(jì)（論文）
開題報(bào)告
題目： 移動(dòng)機(jī)器人結(jié)構(gòu)設(shè)計(jì)
信機(jī) 系 機(jī)械工程及自動(dòng)化 專業(yè)
學(xué) 號(hào)： 0923122
學(xué)生姓名： 趙熙熙
指導(dǎo)教師： 龔常洪 （職稱：副教授 ）
（職稱： ）
2012年11月25日
課題來源
導(dǎo)師提供
科學(xué)依據(jù)（包括課題的科學(xué)意義；國(guó)內(nèi)外研究概況、水平和發(fā)展趨勢(shì)；應(yīng)用前景等）
（1）課題科學(xué)意義
機(jī)器人的應(yīng)用越來越廣泛，幾乎滲透到所有領(lǐng)域，移動(dòng)機(jī)器人是機(jī)器人學(xué)中的一個(gè)重要分支。早在六十年代就已經(jīng)開始了移動(dòng)機(jī)器人的研究。關(guān)于移動(dòng)機(jī)器人的研究涉及到許多方面。首先要考慮到移動(dòng)方式，輪式，履帶式，腿式的。其次考慮驅(qū)動(dòng)器的控制，以使機(jī)器人達(dá)到期望的行為。第三必須考慮到導(dǎo)航或者路徑規(guī)劃，路徑有更多的方面考慮，如傳感融合，特征提取，避碰及環(huán)境映射。因此移動(dòng)機(jī)器人是一個(gè)集環(huán)境感知?jiǎng)討B(tài)決策與規(guī)劃，行為控制與執(zhí)行等多種功能與一體的綜合系統(tǒng)。對(duì)移動(dòng)機(jī)器人的研究提出了許多新的挑戰(zhàn)或挑戰(zhàn)性的理論與工程技術(shù)課題，引起越來越多的專家技術(shù)人的興趣，更由于他在軍事偵察排雷防止污染等危險(xiǎn)與惡劣環(huán)境以及民用中的物料搬運(yùn)具有廣闊的應(yīng)用前景，使得對(duì)它的研究在世界各地受到普遍關(guān)注。
（2）移動(dòng)機(jī)器人研究狀況及其發(fā)展前景
移動(dòng)機(jī)器人控制技術(shù)是當(dāng)今自動(dòng)化領(lǐng)域技術(shù)發(fā)展的熱點(diǎn)之一，受到了各方面的關(guān)注。社會(huì)的發(fā)展極大地推動(dòng)了機(jī)器人的發(fā)展。輪式機(jī)器人的發(fā)展正處于快速成長(zhǎng)階段。由于有較強(qiáng)的活動(dòng)能力，良好的穩(wěn)定性特點(diǎn)，有辦公室機(jī)器人，倉(cāng)庫(kù)搬運(yùn)，危險(xiǎn)未處理，醫(yī)療保健，軍用等。
國(guó)外移動(dòng)機(jī)器人的發(fā)展基本沿著兩條路線，一條是以需求牽引技術(shù)發(fā)展，如日本瑞典，另一條是美國(guó)歐洲一些大學(xué)和研究機(jī)構(gòu)走的學(xué)術(shù)路線，即把機(jī)器人作為研究人工智能的載體，而由于人工智能和其他智能技術(shù)距離人們的期望甚遠(yuǎn)有待進(jìn)一步發(fā)展。移動(dòng)式機(jī)器人是繼工業(yè)革命后又一新領(lǐng)域有著廣泛的前景，并且查找相關(guān)資料我國(guó)在機(jī)器人方面比較落后，而物聯(lián)網(wǎng)技術(shù)正在發(fā)展，并且物聯(lián)網(wǎng)基地在我們無(wú)錫，或許在不久的將來，物聯(lián)網(wǎng)技術(shù)，智能控制技術(shù)，遙控技術(shù)的發(fā)展使移動(dòng)式機(jī)器人會(huì)普及到家庭。
研究?jī)?nèi)容
① 了解移動(dòng)式機(jī)器人的工作原理，國(guó)內(nèi)外的研究發(fā)展現(xiàn)狀；
② 完成移動(dòng)機(jī)器人的總體結(jié)構(gòu)和參數(shù)設(shè)計(jì)；
③ 建立移動(dòng)機(jī)器人的運(yùn)動(dòng)學(xué)模型及機(jī)器人四輪轉(zhuǎn)向系統(tǒng)的動(dòng)力學(xué)模型；
④ 研究其自主控制問題，并驗(yàn)證其合理性；
⑤ 熟練掌握有關(guān)計(jì)算機(jī)繪圖軟件，并繪制裝配圖和零件圖紙，折合A0不少于3張；
⑥ 完成設(shè)計(jì)說明書的撰寫，并翻譯外文資料1篇。
擬采取的研究方法、技術(shù)路線、實(shí)驗(yàn)方案及可行性分析
（1）研究方法：
通過參閱借來的參考資料，認(rèn)真研究移動(dòng)機(jī)器人的運(yùn)動(dòng)方式，了解移動(dòng)機(jī)器人的工作原理，與指導(dǎo)老師交流來完成對(duì)移動(dòng)式機(jī)器人結(jié)構(gòu)的畢業(yè)設(shè)計(jì)。
（2）技術(shù)路線：
提出任務(wù)分析對(duì)移動(dòng)機(jī)器人的需求確定任務(wù)要求，完成設(shè)計(jì)任務(wù)書。方案設(shè)計(jì)階段對(duì)移動(dòng)機(jī)器人的運(yùn)動(dòng)方式進(jìn)行分析比較，確定一種簡(jiǎn)單便捷的可行性運(yùn)動(dòng)方式。技術(shù)設(shè)計(jì)階段進(jìn)行后輪差速系統(tǒng)的設(shè)計(jì)，前輪轉(zhuǎn)向輪的設(shè)計(jì)，直流伺服電機(jī)的選擇，蓄電池的選擇，減速機(jī)構(gòu)蝸輪蝸桿的參數(shù)的設(shè)計(jì)，輪胎大小的選擇。完成對(duì)移動(dòng)機(jī)器人的運(yùn)動(dòng)學(xué)建模與動(dòng)力學(xué)建模，并設(shè)計(jì)其自主控制系統(tǒng)。最后繪制出方案設(shè)計(jì)階段對(duì)檢測(cè)車功能進(jìn)行分析提出可能的解決方案，繪制出零件圖部件圖總裝圖最后完成技術(shù)文件的編制其中包括編制設(shè)計(jì)計(jì)算說明書、使用說明書、標(biāo)準(zhǔn)明細(xì)表、其他技術(shù)文件等。，技術(shù)可行性。
作為機(jī)械專業(yè)的學(xué)生所常用的必備軟件，SolidEdge、CAD軟件。
研究計(jì)劃及預(yù)期成果
研究計(jì)劃：
2012年11月12日-2012年1月20日：按照任務(wù)書要求查閱論文相關(guān)參考資料，填寫畢業(yè)設(shè)計(jì)開題報(bào)告書，并實(shí)訓(xùn)。
2013年2月11日-2013年2月23日：找一篇相關(guān)外文期刊并翻譯。構(gòu)建框架，完成第一章緒論。
2013年3月4日-2013年3月8日：完成總的結(jié)構(gòu)方案設(shè)計(jì)。
2013年3月11日-2013年4月20日：開始繪圖，完成裝配圖以及部件圖的繪制。
2013年4月22日-5月3日：著手寫說明書初稿，修改，完成初稿。
2013年5月6日-5月20日：修改說明書并定稿，打印，整理資料準(zhǔn)備答辯。
特色或創(chuàng)新之處
（1）主題明確，有針對(duì)性，穩(wěn)定， 易實(shí)現(xiàn)。
（2）結(jié)構(gòu)合理，功能完善，機(jī)器人的移動(dòng)能基本實(shí)現(xiàn)。
已具備的條件和尚需解決的問題
（1）技術(shù)條件：整體構(gòu)架基本明確，，已經(jīng)具備使用二維三維作圖的能力。
（2）尚未解決的問題：技術(shù)還不夠成熟，靈活性較弱。
指導(dǎo)教師意見
指導(dǎo)教師簽名：
年 月 日
教研室（學(xué)科組、研究所）意見
教研室主任簽名：
年 月 日
系意見
主管領(lǐng)導(dǎo)簽名：
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英文原文
Weld robot application present condition
According to incompletely statistics, the whole world about has in the industrial robot of service nearly half of industrial robots is used for multiform weld to process realm, weld robot of application in mainly have two kinds of methods most widespreadly, then order Han and electricity Hu Han.What we say's welding robot is in fact welding to produce realm to replace a welder to be engaged in the industrial robot of welding the task.These weld to have plenty of to design for being a certain to weld a way exclusively in the robot of, but majority ofly weld robot in fact is an in general use industrial robot to pack up a certain weld tool but constitute.In many task environments, a set robot even can complete include weld at inside of grasp a thing, porterage, install, weld, unload to anticipate etc. various tasks, robot can request according to the procedure with task property and automatically replace the tool on the robot wrist, the completion corresponds of task.Therefore, come up to say from a certain meaning, the development history of industrial robot is the development history that welds robot.
Know to all, weld to process to request that welder have to have well-trained operation technical ability, abundant fulfillment experience, stability of weld level;It is still a kind of labor condition bad, many smoke and dust, hot the radiation is big, risk Gao of work.The emergence of the industrial robot makes people naturally thought of first the handicraft that replace a person with it welds and eases the welder's labor strength, can also promise to weld quality and exaltation to weld an efficiency at the same time.
However, weld again with other industry process process different, for example, electricity Hu Han process in, drive welder piece because of part heat melt with cool off creation transform, the Han sews of the track will therefore take place to change.Handicraft Han the experienced welder can sew position according to the actual Han observed by eyes adjustment Han in good time the position, carriage of the gun and run about of speed to adapt to the variety that the Han sews a track.However the robot want to adapt to this kind of variety, have to the position and status of gun that want to"see" this kind of to change, then adopt homologous measure to adjust Han like person first, follow while carrying out to sew actually to the Han.Because the electricity Hu welds to have in process strong arc light, give or get an electric shock Hu noise, smoke and dust and Rong drop transition unsteady and causable Han silk short circuit, big electric current strong magnetic field etc. complicated environment factor of existence, the robot wants to examine and identifies a withdrawing of the signal characteristic needed for sewing Han and don't seem to be industrial the other in the manufacturing to process the examination of process so easily, therefore, welding the application of robot is to used for to give or get an electric shock the process of Hu Han in the beginning.
Actually, industrial robot at welded the application of realm to produce on-line electric resistance to order a Han beginning from the car assemble at the earliest stage.The reason lies in the process that the electric resistance orders Han opposite more simple, control convenient, and not need Han to sew a track follow, to the accuracy of the robot and repeat the control of accuracy have lower request.Order the Han robot assembles to produce a great deal of on-line application to consumedly raise the rate of production that the car assemble welds and weld quality in the car, at the same time again have a gentle characteristics for welding, then want ~only change procedure, can produce in the same on-line carry on assemble to weld to different cars type.
BE born till the beginning of this 80's in century from the robot, the robot technique experienced a development process of long term slowness.90's, along with the rapid development of calculator technique, micro-electronics technique, and network technique...etc., the robot technique is also flown soon a development.The manufacturing level, control speed and control accuracy and dependable sex etc. of industrial robot continuously raises, but manufacturing cost and price of robot continuously descend.Is social in the west, with contrary robot price BE, the person's labor force cost contains the trend to continuously increase.United Nations European Economic Committee(UNECE) statisticses from the variety curve of 1990-2000 years of the robot price index number and labor force cost index number.Among them the robot price of 1990 index number and labor force cost the index number is all reference to be worth 100, go to 2000, labor force cost index number is 140, increased 40%;But robot under the sistuation that consider a quality factor the price index number is lower than 20, lowered 80%, under the sistuation that take no account of a quality factor, the price index number of robot is about 40, lowered 60%.Here, the robot price that takes no account of a quality factor means actual price of the robot of now with compared in the past;And consider that the quality factor means because the robot make the exaltation of craft technique level, manufacturing quality and function of robot even if want also under the condition of equal price compare high before, therefore, if pressed the past robot equaled quality and function to consider, the price index number of robot should be much lower.
Can see from here, national in the west, because the exaltation of labor force cost brings not small pressure for business enterprise, but the lowering of robot price index number coincidentally expands application to bring a chance further for it again.Reduce the equipments investment of employee and increment robot, when their expenses attains some one balance point, the benefit of adoption robot obviously wants to compare to adopt the benefit that the artificial brings big, it on the other hand can consumedly raise the automation level of producing the equipments and raise to labor rate of production thus, at the same time again can promote the product quality of business enterprise, raise the whole competition ability of business enterprise.Although robot 1 time invests a little bit greatly, its daily maintenance and consume is more opposite than its to producing far is smaller than completing the artificial expenses that the same task consumes.Therefore, from farsighted see, the production cost of product also consumedly lowers.But the robot price lower to make some small and medium enterprises invest to purchase robot to become easy to accomplish.Therefore, the application of industrial robot is soon flown a development in every trade.According to the UNECE statistics, the whole world has 750,000 in 2001 set the industrial robot is used for industry manufacturing realm, among them 389,000 in Japan, 198,000 in EU, 90,000 in North America, 73,000 at rest nation.Go to at the end of 2004 the whole world to have at least in the industrial robot of service about 1,000,000.
Because the robot controls the exaltation of speed and accuracy and particularly give or get an electric shock the development that the Hu spreads a feeling machine to combine to weld in the robot in get an application, make the robot give or get an electric shock the Han of Hu Han to sew a track to follow and control a problem to some extent and get very solution, the robot welds in the car to make the medium application orders Han to soon develop into the car zero from originally more single car assemble partses and electricity Hu within assemble process Han.Robot's giving or getting an electric shock the biggest characteristics of Hu Han is gentle, can immediately pass to weave a distance at any time a change to weld a track and weld sequence, therefore most be applicable to quilt welder piece the species variety is big, the Han sew short but many, product with complicated shape.This at the right moment again characteristics according to car manufacturing.Being the renewal speed of the particularly modern social car style is very quick, adopting the car production line of robot material can nicely adapt to this kind of variety.
Moreover, robot's giving or getting an electric shock Hu Han not only used for a car manufacturing industry, but also can used for other manufacturing industries that involve to give or get an electric shock Hu Han, like shipbuilding, motorcycle vehicle, boiler, heavy type machine etc..Therefore, the robot gives or gets an electric shock the application of Hu Han gradually extensive, on the amount greatly have exceed the robot order the power of Han.
Along with car reducing in weight manufacturing the technical expansion, some high strong metal alloy materials and light metal alloy material(is like aluminum metal alloy, and magnesium metal alloy...etc.) get an application in the material in the car structure.These materials' welding usually can not solve with the welding of tradition method, have to adopt to lately weld a method and weld a craft.Among them, Gao power laser Han and agitation rub Han etc. to have to develop a potential most .Therefore, robot and Gao power laser Han and agitation rub combining of Han to become inevitable trend.Be like the public in Shanghai to wait domestic to most have the car manufacturer of real strenght in fact at their new car type manufacturing process in have already in great quantities used robot laser to weld.
Give or get an electric shock Hu Han to compare with robot, robot laser the Han of the Han sews to follow accuracy to have higher request.According to the general request, the robot gives or gets an electric shock the Han of Hu Han(include GTAW and GMAW) to sew to follow accuracy to control in 1| of the electrode or the Han silk diameter 2 in, at have the condition that fill the silk under the Han sew to follow accuracy to loosen appropriately.But to laser Han, the laser projects light upon the light spot in the work piece surface while welding diameter usually at 0.6 in, is farer small than Han silk diameter(be usually bigger than 1.0), but the laser weld usually and not add to fill Han silk, therefore, the laser is welding if only the spot position has a little bit deviation, then will result in to be partial to Han and leak Han.Therefore, the robot laser of the public in Shanghai's car car crest Han in addition to pack in the work tongs up adopt measure to prevent from welding to transform, still just the robot laser Han gun front installed the high accuracy laser of SCOUT company in Germany to spread a feeling machine to used for Han to sew a following of track.
The structure form of industrial robot is a lot of, in common usely have right angle to sit mark type, flexible type, and crawl along type...etc. by mark type, many joints by mark type, surface of sphere by mark type, pillar noodles, according to different use still at continuously development in.It is many robots of joint types of the mimicry person's arm function to weld what robot can adopt a different structure form according to the applied situation of dissimilarity, but use at most currently, this because the arm vivid of many joint type robots is the biggest, it can make space position and carriage of Han gun adjust into arbitrarily the status weld by satisfying a demand.Theoretically speak, the joint of robot is many more, the freedom degree is also many more, the joint redundancy degree is big more, and the vivid is good more;But also go against the sitting of kinetics control of marking the transformation and each joint position for robot to bring complexity at the same time.Because weld to usually need in the process with the space right angle sit to mark the Han on the representative work piece to sew position conversion for the Han gun carry the space position and carriage of department and pass robot again go against the kinetics compute a conversion for to the control of robot each joint angle position, but the solution of this transformation process usually isn't unique, the redundancy degree is big, solve more many more.How select by examinations the steady that the quite the cheese solution welds to exercise in the process to the robot very important.Different treatment of system to this problem of the robot control doesn't exert a homology.
Is general to come to speak, have 6 controls request of positions and space carriages that the robots of joints basically can satisfy a Han gun, 3 among those freedoms degree(XYZ) space position used for controling a Han gun to carry a department, another 3 freedom degrees(ABC) are used for the space carriage that controls a Han gun.Therefore, currently weld robot majority as 6 joint types.
For some weld situation, work piece because of leading big or the space is several what the shape is too complicated, make the Han gun of welding the robot can not arrive appointed Han to sew position or Han gun carriage, have to pass the freedom degree of the way increment robot of increasing 1~3 exterior stalks at this time.Usually have two kinds of way of doings:One is the orbit that the robot Be packed to to move small car or Dragon gate up, the homework space of extension robot;Two is to let the work piece move or turn, make work piece up of weld the homework space that the part gets into robot.Also have of adopt two kinds of above-mentioned ways at the same time, let the welding of work piece part and robots all be placed in the best weld position.
Weld the plait distance of robot method currently still with on-line show and teach a way(Teach-in) is lord, but wove the interface ratio of distance machine to have many improvements in the past, particularly is the adoption of LCD sketch monitor and make and weld the plait distance of the robot interface lately gradually friendly, operation more easy.However robot plait distance Han's sewing the key point on the track to sit to mark position still have to pass to show to teach the way how to obtain, then deposit the sport instruction of procedure.This sews track to some Hans of complicated shapes to say, have to cost a great deal of time to show to teach and lowered the use efficiency of robot thus and also increased the labor strength of weaving the distance personnel.The method that solves currently includes 2 kinds:
One is show to teach a plait distance just rough obtain a few Hans to sew a few keys on the track to order, then spread a feeling machine(usually is give or get an electric shock Hu to spread feeling machine or laser sense of vision to spread a feeling machine) through the sense of vision of welding the robot of auto follow the actual Han sew a track.Although this way still cans not get away from to show to teach a plait distance,this way cans ease to show the strength of teaching the plait distance to some extent and raises to weave a distance efficiency.But because of the characteristics of electricity Hu Han, the sense of vision of robot spreads a feeling machine be not sew forms to all apply to all Hans.
Two is the way that adopts a completely off-line plait distance, make the robot weld drawing up of procedure and Han to sew a track to sit to mark adjusting of obtaining of position, and procedure to try all to compute in a set to independently complete on board, don't need participation of robot.Robot off-line plait distance as early as several years ago have, just in order to being subjected to restriction of the calculator function at that time, off-line plait distance software with text originally way is lord, wove a distance member to need to acquaint with the all instruction systems and phrasing of robot, also needed to know how made sure that the space position that the Han sews a track sits a mark, therefore, wove a distance work to not and easily save time.Along with exaltation and calculator of the calculator function 3D sketch technical development, present robot off-line plait distance system majority can under the 3D sketch environment movement, the plait distance interface amity, convenience, and, obtaining Han to sew a sitting of track to mark position usually can adopt the way of "conjecture show to teach"(virtual Teach-in), using a mouse to easily click the welding of work piece in the 3D virtual environment the part can immediately the space acquiring the sit a mark;In some systems, can sew directly born Han of position to sew a track through the Han that define in advance in the CAD sketch document, then the automatically born robot procedure combines to download robot to control system.Thus and consumedly raised the plait distance of the robot efficiency, also eased the labor strength of weaving the distance member.Currently, it is international to there have been using an off-line plait distance of robot according to the company of common PC machine on the market software.It is like Workspace5, and RobotStudio...etc..Figure 9 show develop by oneself for t
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