机器人移动平台设计.doc

摘 要 煤矿灾害尤其是瓦斯煤尘爆炸事故发生后,矿井环境十分复杂,井下因灾受伤人员面临极其危险的状况,需尽快地转移与救护；而救援工作异常困难和危险,往往在救援工作中造成救护人员的伤亡。研发代替或部分代替救护人员及时、快速深入矿井灾区进行环境探测和搜救工作的救灾机器人具有极其重要的意义。 本论文研究工作的目的是设计结构新颖、具有独创性的可携带、抗一定冲击的履带移动机器人，以能够适应在恶劣环境和复杂路况下工作。通过在移动系统上加载不同的模块，能够实现搜救机器人不同的使用功能，本研究意义在于为后续设计的搜救机器人提供一个基础的动力平台，以便于能够开发出更多使用功能的搜救机器人。 本研究所设计的搜救机器人移动方案是便携式履带式驱动结构。该方案采用模块化设计，便于拆卸维修，可以分段自适应复杂路面，并可主动控制两侧翼板模块的转动来调节机器人姿态变化，辅助爬坡、越障和跨沟；机器人经过合理的结构布局和设计后具有良好的环境适应能力、机动能力并能抵抗一定高度的掉落冲击。所设计的机器人移动机构主要由四部分组成：主动轮减速驱动机构、翼板转动机构、自适应路面执行机构、履带及履带轮运动机构，本论文对上述各部分方案分别进行论证、结构设计计算、3D建模，并设计了搜救机器人虚拟样机。 关键字：搜救机器人；复合移动机构；模块化设计 Abstract Coal mine disasters, especially gas and coal dust explosion, mine environment is very complex and wounded tolls mine face extremely dangerous conditions, be transferred as soon as possible and rescue; and rescue work extremely difficult and dangerous, often resulting in the rescue work in the ambulancecasualties.R D to replace or partially replace the ambulance personnel in a timely manner, quick in-depth environmental exploration and mine disaster relief robot search and rescue work is extremely important. The purpose of this thesis is to design novel structure, its unique portable, shock intelligently tracked mobile robot, in order to be able to adapt to the harsh environment and the complicated road to work.Mobile systems loaded by different modules, search and rescue robots can be achieved using different functions, this study is important because other peoples search and rescue robot designed to provide a basis for the dynamic platform to facilitate greater use of features can developsearch and rescue robots. This resetarch program is moving search and rescue robot crawler reconfigurable archiecture.The program is modular in design, easy disassembly maintenance, can be complex adaptive sub-surface, active control can turn on both sides of flange module to adjust the robot pose changes, supporting climbing,obstacle and cross-channel;The design of the robot moving mechanism mainly consists of four c