多功能特殊移動機器人平臺設計與動力學分析.pdf

1、南京理工大學碩士學位論文多功能特殊移動機器人平臺設計與動力學分析姓名：王軍寧申請學位級別：碩士專業(yè)：機械電子工程指導教師：馮虎田20080526摘要頌二Ij論文Abstract111isissuecomesfromNanjingtechnologyofficeprogram”TheMultifunctionalSpecialMobileRobot’Themaintaskofthisprogramistoresearchanddevelo

2、pmenta虹rldofmobilerobotplatformthatiscapableofcarryingavarietyofspecialdevices。Thismobilerobotcouldcarryfireprotection，reconnaissance，detectionmechanicalarm，smallarmsandothersubsystemstoimplementpartofdangerousoperations

3、includingfirefighting，anti—terrorism，riot，reconnaissance，detectionandSOonThisthesisismainlytodesignthemobileplatformofTheMultifunctionalSpecialMobileRobotThisthesisemphasisonfouraspects：(1)Overalldesignofthemobilerobotsy

4、stem；(2)Mechanicaldesignofthemobileplatform；(3)Dynamicemulationandanalysisofthemobileplatform’Svariousposes；(4)Finiteelementanalysisofthemobileplatform’Skeyparts111eresearchanddevelopmentstatusofDomesticandinteaalational

5、mobilerobotisfirstlyreviewedwithexamplesofDifferentformsofMobileRobot，thenthesignificanceandresearchpurposeofmobilerobotsisexpounded砸eoverallprojeel：ofthemobileplatform，theCarryingplatform，thecontrolsystem，theremotecontr

6、olsystemandthedrivingsystemaredesignedandarrangedAccordingtotheproject，mechanicalstructureofthemobileplatformisdesigned，drivingmotorisselected，theoptimizationtothechassis，thedrivemachine，thepedrail，thepedrailtensioningde

7、vice，thewheelsystemismainlydesignedThemotionmodelfordifferentworkingconditionofMobileRobotincludinglinearmotion，slopeclimbing，obstacleclimbingandturningismadeonthebasisofstructuredesignedandemulatingthroughM[p汀LABtoobtai

8、ntheanalysisresultAnalysisonforcesstatusofdifferentgroundan西ewhichisinthefrontofthemobileplatformismadeandgroundangleisdeterminedThefiniteelementanalysisbyANSYStodriveaxleandupwardguidingwheelbracketaremadetoassurethatth

9、epartsCanmeettheneedsofstrengthAtlast，inallusiontopresentdesignthisthesismakesasummaryofthetaskandviewstheprospectofTheMultifunctionalSpecialMobilelRobotThroughtheresearchofTheMultifunctionalSpecialMobileRobot’Smobilepla

10、tform，weprovideasuitofmechanicalsystemwithfeaturesofcompact，easytodisassemblyreliablestabilityandadaptable，accumulaterichexperiencesinthedesignofthesystemProviderelevantinformationforthelaterresearchofdesignandimprovingK