摘要

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    平行四边形步行机器人的设计主要内容包括本课题的研究现状、目的及意义、国内外研究现状与成果应用、平行四边形步行机器人的功能分析、原理设计以及标准件的选用和关键零件的设计核对，通过参考相关设计经验，作出原理改进，并进行分析、计算、验证，得出了较为可靠地设计结论。此设计的重点在于机械运动部分，主要采用了平面四杆机构。本次设计中的机器人变形机构主要由四杆部分、动力部分两部分组成，采用伺服电机提供动力支持。在此次设计中主要着手于动力部分和四杆部分的传动分析与设计，对所用的几个主要的零件做了详细设计，并对主体进行了虚拟样机演示。.

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关键词    机器人；步行；四杆机构

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Title   The design of the parallel quadrilateral walking robot                 

ABSTRACK

  The primary coverage about the design of the parallel quadrilateral walking robot is what the study about this topic at present and what the significance or purpose of this objective.Besides what the project discussed at home and abroad is also what we interested about.What is more is the analysis of this the parallel quadrilateral walking robot and the design of the principle.Also,it is contained the selecting and using of the standard parts and the design of the pivotal parts which is be checked.Though consulting the related experience of the robot changing its vehicle width which makes some improvements in this dissertation.What is more is that the article is also contained the analysis,the calculation and the confirmation. The key point of this design is about the part of the movement in this mechanism.It is adopted the four bar linkage for its mainly way of working.The design of the robot changing its vehicle width consists of two parts,including the four bar linkage part and the power part.It adopts servo motor to provide power support.It is be pay attention about the power part and the four bar linkage part’s analysis in this design.In this dissertation it makes a detailed designed and calculation about these parts which are primary and mainly.It also makes an demonstrate about the robot of changing vehicle width on virtual prototype.           

Keywords:  robot,walking,four-bar mechanism

目   录

1  引言………………………………………………………………………………… 1

2  本课题的研究现状、目的及意义………………………………………………… 2

2.1  国内外研究现状与成果应用…………………………………………………… 2

2.2  课题目标………………………………………………………………………… 6

2.3  研究意义………………………………………………………………………… 6

2.4  本章小结………………………………………………………………………… 7

3  功能分析与原理设计 …………………………………………………………… 8

3.1  平行四边形双足步行机器人的功能分析……………………………………… 8

3.1.1  平行四边形双足步行机器人的总共能……………………………………… 8

3.1.2  平行四边形双足步行机器人的分功能……………………………………… 8

3.1.3  平行四边形双足步行机器人的辅助功能…………………………………… 8

3.1.4  平行四边形双足步行机器人的控制功能…………………………………… 8

3.1.5  平行四边形双足步行机器人的功能结构图………………………………… 8

3.2  平行四边形双足步行机器人伸缩变形部分的原理设计……………………… 9

3.2.1  方案I………………………………………………………………………… 9

3.2.2  方案II…………………………………………………………………………11

3.2.3  方案对比选取以及初步设计…………………………………………………11

3.2.4  设计优化………………………………………………………………………14

3.3  平行四边形滑行机器人双足步行的原理设计…………………………………16

3.4  本章小结…………………………………………………………………………17

4  零件设计与运动仿真………………………………………………………………18

4.1  总体结构设计……………………………………………………………………18

4.2  各部分零件结构设计……………………………………………………………18

4.2.1  机架的设计……………………………………………………………………18

4.2.2  稳定部分的设计………………………………………………………………19

4.3  其他部分的零件设计……………………………………………………………24

4.4  强度校核…………………………………………………………………………26

4.5  基于机械三维软件SolidWorks的运动仿真……………………………………27

4.6  本章小结…………………………………………………………………………28

结论 ……………………………………………………………………………………29

参考文献 ………………………………………………………………………………30

致谢……………………………………………………………………………………31

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