地面移动机器人载体及搭载平台机械设计与分析

【作者】 杨林；

【导师】 冯虎田；

【作者基本信息】 南京理工大学 ， 机械制造及其自动化， 2009， 硕士

【摘要】 机器人技术的发展为地面武装机器人的设计和研究提供了良好的技术基础。研制地面武装机器人的目的是减小人员伤亡,代替人在危险、恶劣的战场环境执行军事任务,例如侦察、作战、爆破等,从而确保士兵的宝贵生命。本文以实际工程项目“多功能移动机器人”为背景,设计了一种地面武装机器人,可搭载消防、侦察、探测、机械臂和轻武器等子系统。用来执行部分消防、反恐、防暴、侦察、探测、灭火等危险作业。本文设计的地面武装机器人包括移动机器人载体和搭载平台两部分。论文的主要工作包括以下几个方面:根据设计指标,首先对移动载体和搭载平台进行了构型分析,然后对各零部件进行详细的设计;移动机器人具备较强的野外环境适应性,根据移动机器人的不同工况,建立机器人平地直线运动、爬坡、自撑起、越障和转向工况的动力学模型,并使用MATLAB软件进行仿真试验分析;分析该移动机器人模型的发射过程,根据单组击发后管口的振动特性,确定出合适的发射间隔,并分析了八枚火箭弹齐射下管口的振动情况;使用ANSYS软件对搭载平台进行应力和强度校核,在满足设计要求的前提下,对转塔结构进行优化,完成了轻量化设计。最后,论文针对现有设计,给出了进一步优化建议,并对地面移动机器人的发展前景进行了展望。更多还原

【Abstract】 With the development of robot technology, it provides better technology for the research and design of ground attacking robot. The purpose of developing ground attacking robot is that it can reduce casualties. It carries out military missions instead of people in dangerous, harsh environment, so it can protect the precious lives of soldiers. This paper takes the project "multifunctional mobile robot" as the study background, designs a kind of mobile robot that is capable of carrying a variety of special devices. This mobile robot could carry fire protection, reconnaissance, detection, mechanical arm , small arms and other subsystems to implement part of dangerous operations including fire fighting, anti-terrorism, riot, reconnaissance, detection and so on.The ground attacking robot is assembled by two parts. One is the mobile carrier and the other one is the carrying platform. The main part of this thesis can be summarized as following: According to design specifications, analyze the configuration of mobile carrier and carrying platform and do detailed mechanical design for parts of the model; The mobile robot has strong ability to adapt to the wild environment, The motion model for different working condition of Mobile Robot, including linear motion, slope climbing, obstacle climbing and turning, is made on the basis of structure designed and emulating through MATLAB to obtain the analysis result; Launching process of the mobile robot is analyzed. According to vibration property of launching foreside after the first single group rockets firing, a suitable firing interval is confirmed; the finite element analysis by ANSYS to carrying platform is made to assure that the parts can meet the needs of strength, optimize the rotating tower in order to reduce its weight.At last, the paper gives advances for further optimization and views the prospect of the Ground Mobile Robot.更多还原