链履式机器人系统分析与本体设计--毕业论文.doc

摘 要 近年来多发的自然灾害如地震、火灾、洪水、人为的恐怖祸害如恐怖活动、武力冲突和有毒物质、辐射性物质带来的危害,威胁着人们的安全,引起了广泛的关注。虽然人们对各种灾难的警觉和反应能力有所提高, 但在处理破坏性灾难事件时还是准备不够充分不专业、不及时的救援活动造成很多不必要的人员伤亡。救援机器人的参与可以有效地提高救援的效率和减少施救人员的伤亡,它们不但能够协助人们完成救援任务,而且可以代替相关人员执行搜救任务1、2、 关键词：救援机器人； 移动系统； 链履传动； 机械本体 Structure analysis of chain mobile systems and mechanical body design of robot ABSTRACT In recent years, multiple natural disasters like earthquakes, fires, floods, man-made terrorist scourge, such as terrorism, armed conflict and toxic substances, radioactive material harm, threaten peoples safety, and it has attracted wide attention. While the capacity of the awareness and response to various disasters has improved, the rescue activities still appeared inadequately, unprofessionally that result in unnecessary casualties while dealing with incidents of deadly disasters. It can improve the efficiency of rescue work and reduce personnel casualties with the participation of rescue robots. The robots can not only help people complete the rescue mission, but can also do searching and rescuing mission alone replace the relevant personnel. This article introduces the body structure design of rescue robot and mechanical analysis of the related major parts. The main results in this paper are as follows. (1) Take the mobile robots which work in post-disaster building as objects, and the testing standards of the post-disaster field that formulated in the RoboCup rescue robot as a reference. We propose a walking system to meet the request of the environmental conditions though the analysis of its environmental characteristics. It is a tracked robot with four expandable arms. The basic walking function is achieved by the main tracks, and robot changes the postures of four arms to adapt to the complex environments. (2) Based on the method of modular design, the detailed designs of the robot are accomplished, which include main body design, caterpillar band mechanism design, and expandable arms mechanism design. The overall structure is co