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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；捡拾机构。
Abstract
With the rapid economic development and increasing people's living standards, waste emissions by increasing the pressure on the environment increasing, Specially campus this kind of densely population place , every day is making massive trash , such as waste paper, plastics, batteries, fruit, etc. . In order for the campus must be kept clean on the charges of human material and financial resources and so on.
If you design a campus that is garbage robot can solve a lot of trouble, the campus garbage robot is a robot environment-aware, dynamic decision-making and planning, such as acts of control and the implementation of multiple functions in one integrated system. Manipulator garbage from the entire hydraulic control, mechanical hand fixed in the mobile platform consisting of a special kind of mobile robot system. Manipulator which is used to achieve, such as crawling, operation moves to expand mobile platform, manipulator of the working space, so that robot can be a more appropriate gesture tasks, the addition of robot is also greatly improved the performance of the mobile robot
Key words : campus ; Trash ascends to pick the robot ;Pick mechanism
目录
摘要····································································································I
Abstract·····························································································II
第一章 绪论······················· ······························································1
1.1移动机器人概述·················································································1
1.2·移动机械手平台系统········································································· 1
1.3校园垃圾拾捡机器人意义····································································1
第二章 机器手整体设计································································2
2.1运动机构及机械手简介········································································2
2.2 机械手整体方案设计··········································································2
2.3手腕及手臂的设计········································································· 2
2.4机械手工作原理示意图······································································ 4
第三章 液压系统整体设计··························································· 4
3.1液压系统控制油路图·········································································· 5
3.2液压控制优点..........................................................................................................7
3.3液压缸的选择·····················································································7
3.3.1 爪子液压缸的选择······································································7
3.3.2 两个手臂的油缸的选择································································8
3.3.3 摆动液压缸的选择········································································8
3.4液压泵的选择·················································································· 10
3.5校核································································································12
3.6 其它元件的选择···············································································15
3.7 本章小结························································································ 15
第四章总结·····················································································16
参考文献···························································································17
第一章 绪论
1.1移动机器人概述
移动机器人的研究始于60年代末期，斯坦福研究院(SR)I的NiISSen和
CharleSRosen等人，在1966年至1972年中研造出了取名Shakey的自主移
动机器人。目的是研究应用人工智能技术，在复杂环境下机器人系统的自主
推理、规划和控制。与此同时，最早的操作式步行机器人也研制成功，从而
开始了机器人步行结构方面的研究，以解决机器人在不平整地域内的运动问
题，设计并研制出了多足步行机器人。70年代末，随着计算机的应用和传感
器技术的发展，移动机器人研究又出现了新高潮。特别是在80年代中期，设
计和制造机器人的浪潮席卷全世界，一大批世界著名的公司开始研制移动机
器人平台，这些移动机器人主要作为大学及研究机构的移动机器人实验平台，
从而促进了移动机器人学多种研究方向的出现。90年代以来，以研制高水平
的环境信息传感器和信息处理技术，高适应性的移动机器人控制技术，真实
环境下的规划技术为标志，开展了移动机器人更高层次的研究。
1.2移动机械手平台系统
移动机械手是由机械手固定在移动平台上构成的一类移动机器人系统。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，同时机械手的加入也极大提高了移动机器人的性能。移动机器人体系结构的设计就是要把感知、建模、规划、决策、行动等多种模块有机地结合起来，建立在动态环境中完成目标任务的一个或多个机器人结构框架。
1.3校园垃圾拾捡机器人意义
目前校园中存在着广泛的一种现象，那就是每天会产生大量的校园垃圾，如果这些垃圾不能被及时的捡拾及处理的话，将会严重的破坏校园形象和影响校园环境。因此如果能在依赖清洁工之外，设计出能在校园平坦的地面上行驶，并能实现拾捡常见垃圾（如纸张，瓶罐，塑料袋等）动作的一种小巧的校园垃圾拾捡机器人，不仅能减轻清洁工的工作负担，同时也无疑会是校园中一道独特靓丽的风景线。这也就是本次设计的目的所在。
第二章 机械手整体设计
2.1 运动机构及机械手简介
运动机构 一般由液压、气动、电气装置驱动。运动机构的升降、伸缩、旋转等独立运动方式， 称为机械手的自由度 。为了抓取空间中任意位置和方位的物体，需有6 个自由度。自由度是机械手设计的关键参数。自由度越多，机械手的灵活性越大，通用性越广，其结构也越复杂。本设计采用5 自由度机械手。
机械手的种类，按驱动方式可分为液压式、气动式、电动式、机械式机械 手；按适用范围可分为专用机械手和通用机械手两种；按运动轨迹控制方式可分为点 位控制和连续轨迹控制机械手等。本设计才用液压式驱动，因为其结构简单，尺寸紧 凑，控制方便，驱动力大。机械手的组成及各部分关系概述
机械手由三大部分（机械部分、传感部分、控制部分）六个子系统（驱动系统、机械结构系统、感受系统、机器人-环境交互系统、人机交互系统、控制系统）组成。
机械结构系统：机器人的机械结构又主要包括末端操作器、手腕、手臂、机身（立柱）。
驱动系统：驱动器是把从动力源获得的能量变换成机械能，使机器人各关节工作的装置，常见的驱动形式有步进电机驱动、直流电机驱动、交流电机驱动、液压驱动、气压驱动以及近些年出现的一些特殊的新型驱动（例如超声波驱动、磁致伸缩驱动、静电驱动等）。
控制系统：机器人的控制方式多种多样，根据作业任务不同，主要可分为点位控制方式（PTP）、连续轨迹控制方式（CP）、力（力矩）控制
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