校园垃圾拾捡机器人控制机构设计毕业设计说明书.doc

学校代码：10410序号：050387本科毕业设计题目：校园垃圾拾捡机器人控制机构设计学院：工学院姓名：XXXXXX学号：20050387专业：机械设计制造及其自动化年级：机制051指导教师：XXXXXXX二OO九年五月三日校园垃圾拾捡机器人控制机构设计I摘要随着经济的快速发展和人民生活水平的日益提高，垃圾排放量与日俱增，对环境的压力越来越大，特别是校园这种人口密集的地方，每天都在制造大量的垃圾，如废纸、塑料、废电池、果皮等。为了让校园保持清洁就必须要费大的人力物力和财力等。如果设计一种校园拾捡垃圾机器人就可以解决很大的麻烦，校园捡垃圾机器人机器人是一个集环境感知、动态决策与规划、行为控制与执行等多种功能于一体的综合系统。捡垃圾机械手是由全液压控制，机械手固定在移动平台上构成的一类特殊的移动机器人系统。其中机械手用来实现如抓取、操作等动作，平台的移动用来扩展机械手的工作空间，使机械手能以更合适的姿态执行任务，机械手的加入也极大的提高了移动机器人的性能。关键词:校园；垃圾拾捡机器人；控制机构。校园垃圾拾捡机器人控制机构设计IIAbstractWiththerapideconomicdevelopmentandincreasingpeopleslivingstandards,wasteemissionsbyincreasingthepressureontheenvironmentincreasing,Speciallycampusthiskindofdenselypopulationplace,everydayismakingmassivetrash,suchaswastepaper,plastics,batteries,fruit,etc.Inorderforthecampusmustbekeptcleanonthechargesofhumanmaterialandfinancialresourcesandsoon.Ifyoudesignacampusthatisgarbagerobotcansolvealotoftrouble,thecampusgarbagerobotisarobotenvironment-aware,dynamicdecision-makingandplanning,suchasactsofcontrolandtheimplementationofmultiplefunctionsinoneintegratedsystem.Manipulatorgarbagefromtheentirehydrauliccontrol,mechanicalhandfixedinthemobileplatformconsistingofaspecialkindofmobilerobotsystem.Manipulatorwhichisusedtoachieve,suchascrawling,operationmovestoexpandmobileplatform,manipulatoroftheworkingspace,sothatrobotcanbeamoreappropriategesturetasks,theadditionofrobotisalsogreatlyimprovedtheperformanceofthemobilerobotKeywords:campus；Trashascendstopicktherobot；Controlmechanism校园垃圾拾捡机器人控制机构设计目录摘要····································································································IAbstract·····························································································II第一章绪论·····················································································11.1移动机器人概述··················································································11.1.1移动机器人的系统结构····································································11.1.2移动机械手平台系统······································································21.2课题研究背景及意义···········································································2第二章机器人工作原理································································4第三章机器手整体设计································································53.1机械手工作原理图·················································································53.2液压系统控制油路图··········································································53.3液压缸的选择·····················································································73.3.1爪子液压缸的选择······································································73.3.2两个手臂的油缸的选择································································73.3.3摆动液压缸的选择········································································83.4液压泵的选择···················································································93.5校核································································································103.6其它元件的选择···············································································143.7本章小结·······················································································14第四章总结·····················································································15参考文献···························································································16