全向轮式机器人的结构及控制系统设计+CAD图纸
毕业论文关键词：移动机器人；全向轮式机器人；结构设计；机器人控制
The design of structure and control system of omnidirectional wheeled robot
Abstract：In this paper, a kind of omnidirectional mobile robot with omnidirectional mobile function is designed and realized. The robot will be used as the indoor omnidirectional mobile platform, and it can load a certain weight of the goods or equipment, to achieve user requirements of the work objectives. In this paper, the mechanical structure of the omnidirectional wheeled robot, particularly the mobile mechanism, is designed. The drive motor is selected, and the other required parts are designed. In the design process, because the appropriate reducer is not chosen, the reducer has been simply redesigned. The basic control method of the omnidirectional wheeled robot is also introduced. The omnidirectional wheeled robot designed in this paper has good athletic performance and achieves the design requirements. The movement and transposition of robot is flexible, and the application prospect is very broad.
Keywords: mobile robot, omnidirectional wheeled robot, structure design, robot control
目录
1 绪论 1
1.1引言 1
1.2 国内外移动机器人研究现状 1
1.3 全向轮介绍 3
1.4 移动机器人的发展趋势 4
2 设计总说明 5
2.1课题的任务内容 5
2.2 课题的基本前提、假设与原始数据 5
2.2.1 课题的基本前提、假设 5
2.2.2 原始条件及数据 5
2.3 本课题的设计重点 5
2.4 设计工作的具体流程 5
3全向轮式机器人的方案总体设计 6
3.1 结构组成与工作原理 6
3.2 整体方案的确定 6
4 机械系统设计 7
4.1 全向轮的选型 7
4.2 驱动电机的选择 8
4.2.1 电机的种类选择 8
4.2.2 电机的选型计算 8
4.3减速器的选用和重新设计 11
4.3.1 减速器的选用 11
4.3.2 减速器的重新简单设计 11
4.4 编码器的选用 17
4.5其它零部件的设计和选用 18
4.5.1 支承架的设计 19
4.5.2轴的设计 19
4.5.3 轴承的选用 20
4.5.4 套筒与密封端盖的设计 21
4.5.5 底板和顶盖的设计 21
4.5.6 控制系统组件的安装板 22
4.6装配说明 22
5 控制系统设计 24
5.1总体控制方案的选择 24
5.1.1全向轮式机器人的主要控制任务 24
5.1.2机器人控制方案的选择 24
5.2 机器人的运动学建模分析 24
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