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含CAD图纸、说明书 手结构的设计【含CAD图纸】 的机器人手爪 含CAD图纸 机器人结构设计 设计【含CAD图纸 CAD图纸 机器人的设计 的空间机器人 传感器的设计【

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基于多传感器的空间机器人手爪结构设计摘要人类的空间活动己经由单纯的空间考察和研究时代进入开发利用空间资源的时代，独特的太空环境为人类提供了特定的科研场所和空间生产基地。空间机器人不仅可以取代人去完成某些特定工作，也可以完成某些人所不能够完成的工作。世界各空间大国均充分认识到空间机器人在未来空间活动的重要作用，都在加紧进行空间机器人的研制工作，并投以巨资加以支持，但是建造一种全自主式的智能机器人系统，而采用多传感器智能手爪系统赋予空间机器人局部自主能力的方案己得到专家们共识。将多种传感器集成在机器人手爪上构成多传感器集成手爪系统能最有效地反映外界环境及工作对象的状态，最直接的描述工作对象及其所在的外界环境、操作工具及其所操作的对象的关系，基于多种传感器信息通过信息融合技术将这些信息合并成统一的综合信息，从而准确、全面地描述和识别环境中物体的特征，供机器人进行识别、判断、决策和规划，进而在高层次上进行控制，因此研制空间多传感器智能手爪成为空间机器人关键技术之一空间机器人智能程度的高低很大程度上平决于先进的传感器技术、多传感器集成技术以及多传感器信息融合技术。空间机器人多传感器智能手爪的研究正式致力解决多传感器集成技术及其多传感器信息处理技术。同时，该项目的研究是在跟踪世界先进水平，掌握国际上空间机器人多传感器智能手爪最新技术，缩短同国外先进水平差距的背景下进行的，该项成果对加速我国空间机器人的发展发挥了积极作用，并将推动我国空间机器人技术的发展。关键词 空间机器人；传感器；结构设计；三指手爪 Structural Design of Space Robot with Three Refers to Gripper Based on SensersAbstract Mankinds space activities have been purely through the era of space exploration and research into the development and utilization of space resources of the times, the unique environment of space for human provide a specific place and space scientific research production base. Space robots can replace people to complete certain work and to be completed by some people not able to complete the work. The worlds space powers are fully aware of space robots in the future the important role of space activities, are stepping up the development of space robots, and voted to huge amounts of money to support it, but the construction of a fully autonomous intelligent robot system And the intelligent use of multi-sensor system gives space robot gripper partial autonomy of the programme has been the experts consensus. Will be integrated in a variety of sensors on a robot gripper Gripper integrated multi-sensor system can most effectively reflect the external environment and the objects of the state, the most direct description of the objects of their work and where the external environment, and its operational tool operated by the object of the Relations, based on a variety of sensor information through the integration of information technology will be merged into a unified comprehensive information to accurately and comprehensively identify and describe the characteristics of objects in the environment for robot recognition, judgement, decision-making and planning, then at the top On the control and therefore more room for development of smart sensors Gripper become one of the key technologies of space robots for space robots smart-level summary to a large extent the level in advanced sensor technology, multi-sensor integration technology and multi-sensor data fusion technology. Space Robot multi-sensor smart gripper of official efforts to solve the multi-sensor integration technology and its multi-sensor information processing technology. At the same time, the projects research office in tracking the worlds advanced level, grasp the international space robot gripper as intelligent multi-sensor technology to shorten the gap with foreign advanced level in the context of, the results of speeding up the development of Chinas space robot Play a positive role in promoting Chinas space and the development of robot technology.Keywords Space Robot ；Sensors；Structural Design；three refers to gripper不要删除行尾的分节符，此行不会被打印- III -目录摘要IAbstractII第1章 绪论11.1 课题研究的背景和意义11.2 国内外研究现状11.2.1 德国ROTEX计划中多传感器智能手爪系统概况11.2.2 日本ETS_VII计划中的多传感器智能手爪系统概况21.2.3 哈尔滨工业大学多传感器集成手爪系统41.3 本文选题的意义及主要内容51.3.1 选题的意义51.3.2 本文的主要内容6第2章 多传感器集成三指手爪的机械设计72.1 三指手爪系统的组成72.2 三指手爪本体机械模块组成72.3 手指部件的设计82.3.1 设计原则82.3.2 电机的选取92.3.3 齿轮的设计102.3.4 其他零件的设计102.4 Pro/engineer绘制手爪三维图11第3章 三指手爪传感器设计143.1 多传感器系统的配置143.2 三指手爪