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沈阳理工大学学士学位论文I第一章摘要本次设计的是一款履带式搜救机器人基础级载体，设计内容包括设计行走底盘和四自由度手臂以及对机器人的局部受力情况作了具体的分析。设计整体机器人结构。在设计过程中，不断的观察分析其他机器人的结构，吸取前人经验，进行方案比较选定。本次毕业设计的重点在于机器人的研究设计工作，由于机器人整体的设计难度较大，材料和机构精度要求较高，本设计产品还不能作为成熟产品进行加制造，只能形成设计方案。关键字：机器人；履带底盘；机械臂；控制电路沈阳理工大学学士学位论文IIAbstractWhatthisdesignwasasectionofmarchingfirerobotfoundationlevelcarrier,thedesigncontentwalksthechassisincludingthedesignandthefourdegrees-of-freedomarmsaswellashasmadetheconcreteanalysistorobot'spartialstresssituation.Trialmanufacturingoverallrobotstructure.Inthedesigntrialmanufacturingprocess,theunceasingobservationanalyzesotherrobot'sstructure,absorbsthepredecessortoexperience,carriesontheplanquitetodesignate.Andgoesdowntothefactorytoprocessonetocarryonthestudy,bringstocompletiontheprocessingtechniqueofmanufacture,avoidssteppingontoonlypausesthewrittendesigntobeseparatedfromtheactualmanufacturethetortuouspath.Thisgraduationproject'skeypointliesinrobot'strialmanufacturingresearchwork,becausetherobotwhole'sdesigndifficultyisbig,thematerialandtheorganizationaccuracyrequirementishigh,thistrialmanufacturingproducthasnotbeenabletotakethematureproducttocarryonaddsthemanufacture,canonlydofortheguidanceprototypesuppliesthereference.Keywords:Robot；Caterpillarbandchassis；Mechanicalarm；Controlcircuit沈阳理工大学学士学位论文III目录第一章摘要....................................................................................................IAbstract...............................................................................................................II绪论.................................................................................................................11.1项目概述..............................................................................................11.2目的及意义..........................................................................................11.3国内外发展概况..................................................................................21.4主要研究内容......................................................................................3第二章方案比较与方案选择..............................................................................42.1行走机构方案比较..............................................................................42.2手臂机构方案比较..............................................错误！未定义书签。2.3搜救机器人整体机构选定...............................错误！未定义书签。第三章整体机构设计........................................................................................63.5回转盘机.................................................................................................9构设计机电动机选择....................................................................................93.6履带驱动轮机构设计机电动机选择...................................................103.7部分校核主要参数计算方法及强度校核.........................................11轮齿传动......................................................................................................11蜗杆传动......................................................................................................14螺纹连接......................................................................................................213.8本章小结...............................................................................................26沈阳理工大学学士学位论文IV第四章控制电路及控制器设计....................................................................284.1控制电路设计.......................................................................................284.2开关元件选用......................................................................................294.3控制器设计..........................................................................................294.4本章小结..............................................................................................30第五章设计总结............................................................................................32参考文献...............................................................................................................33致谢.....................................................................................................................34附录一：英文原文..............................................................................................35附录二：中文翻译..............................................................................................49

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