摘要本课题研究的是有关移动式图书自动存取的装置，也就是有关图书馆图书自动存取的机器人。当今社会由于技术的不断发展和科技不断提高，高智能化的移动机器人是发展的必然趋势。图书馆的图书的归类、搬运和上下架等工作需要花费大量人力和时间，随着人类对知识的积累，图书馆的发展需要有24小时工作的机械人来代替管理员完成工作，人类不是机器人不可不会出现错误，图书的归类和上架的错误随时都有可能会出现。信息化的图书馆可以提高图书馆的管理和服务水平。面前图书馆需要的是以机械化的自动化装置。这样就可以减少管理员的工作量，且提高工作效率，有些特殊的重要的文件保存机构需要有一定的恒温、恒湿环境，利用机器人对图书和文献的管理就非常合适。因此这种无人图书馆图书存取装置时未来发展的趋势。51352

本课题通过分析图书馆中管理员的工作特点，设计一个无人图书馆图书自动存取装置，机器人包括强度较高的机械手、灵巧末端执行器和移动平台。具体研究内容包括：提出几个类型的图书馆机器人的机构设计方案；对机械臂末端执行机构和直线执行器进行选型；对机器人各部件进行设计；对机器人及机器人零件进行三维建模。

毕业论文关键词：移动机器人；图书自动存取；机构设计

Abstract This study is a library book about unmanned automatic access device, which is automatically accessed library books about robots.

In the modern society ,with science and technology continuing to improve , high intelligent mobile robot is the inevitable trend of the development. It not only takes us much time to classify the books,hand of the books and rack them up and down,but also much manpower. Along with the accumulation of human knowledge, the library's development needs a 24-hour working robot to replace an administrator to complete the work. Humans are not robots that can do everything without errors.Therefore, books shelves and classified mistakes may occur at any time. Strengthening the informatization construction of library can improve the library’s management and service levels. At present, what the library needs are mechanization automation devices It can reduce the administrator's workload and improve work efficiency, and some special institutions need to save important files in a certain constant temperature and humidity environment, the use of robots for books and literature management is very appropriate. Therefore,this no one library storage device is for the future development trend.

Through analying the characteristics of the work at the library , the topic designs an unmanned automatic saving device of library books.End of the robot manipulator including high strength,dexterity actuators,and mobile platforms. Concrete research content including several aspects:firstly,put forward several types of library organization design of the robot.  Secondly ,design of various components of the robot; Thirdly, pair of robots and robot parts for thihree-dimensional modeling.

Key words:  library,book; automatic retrieval and return; robot

目录

第一章 绪论 1

1.1 课题研究背景 1

1.2 图书馆图书自动存取装置的研究现状 1

1.2.1 自助图书馆的研究现状 2

1.2.2 自动仓储式图书馆的研究现状 3

1.2.3 移动式图书馆机器人的研究现状 3

1.3 无人图书馆图书自动存取装置的关键技术 4

1.4 课题主要研究内容