摘要搭载在移动平台上的机械臂有实用性强、操作灵活、安全可靠等特点，如今已于医学治疗、反恐排爆、太空探索等工作中普遍使用，成为了现代机器人发展的一个重要环节。本文根据机械臂的设计要求，以机械臂运动学和动力学理论研究为基础，提出一种搭载在移动平台上机械臂的结构设计方案，并对设计的方案进行3D建模及运动仿真以验证设计的可行性。51582

本论文的设计任务如下：针对移动机械臂的功能要求确定机械臂结构设计指标，提出移动机械臂的结构设计方案。在设计方案中选择机械臂构型，根据要求确定关节数，选择合适的驱动方案，接下来对关节结构进行设计。在确定各项参数后以机械臂运动学理论方法为基础，建立机械臂数学模型，说明工作空间的计算方法。最后在Pro/E软件中对移动机械臂的结构设计方案进行3D建模及运动仿真，得到运动仿真结果。

毕业论文关键词：移动平台，机械臂，结构设计，运动仿真 

 Abstract

A manipulator carried by a mobile platform, with these characters of practical , flexible operation, safe and reliable, has been used widely, such as medical treatment, anti-terrorism EOD( explosive ordnance disposal), outer space exploration and other works. And it has become an important aspect in modern robot’s development .According to design requirements of the manipulator: based on research of manipulator kinematics and dynamics theory, a structure design of a manipulator carried by a mobile platform is proposed, and its 3D model is built with Pro/E. And motion simulation is carried out to verify the validity.

In the thesis, the main design tasks are as follows. Based on the functional requirements of the mobile manipulator, design parameters are determined, and a design solution is proposed. The manipulator’s configuration was selected, and the number of joints is determined and the appropriate drive solution is designed. The next was the structure design of the joints. After the parameters of the manipulator were determined, a mathematical model of the manipulator was established, which was based on dynamic theories of manipulator to describe the calculation method of the manipulator’s workspace. Finally, the 3D model of the design solution of the manipulator’s structure is built with Pro/E software, and motion simulation is also done.

Keywords: mobile platform ,manipulator ,structure design ,motion simulation

目  录

第一章 绪论 1

1.1研究背景 1

1.2国内外移动机械臂研究现状 2

1.2.1国外的研究现状 2

1.2.2国内机械臂的研究现状 6

1.3移动机械臂结构设计分析 7

1.3.1存在的主要问题 8

1.3.2计划解决的问题 9

1.4论文的主要研究内容 9

第二章 移动机械臂结构设计 10

2.1引言 10

2.2移动机械臂设计指标的确定 10

2.3移动机械臂的机械结构设计 11

2.3.1移动机械臂的构型设计 11

2.3.2移动机械臂的驱动方案设计 15

2.3.3移动机械臂的关节设计 16

2.4本章小结 17

第三章 移动机械臂的3D建模与运动仿真