自主式移动机器人设计+CAD图纸
毕业论文关键词：机械结构；传感器；控制系统
Design of autonomous mobile robot
Abstract ：In this paper, the main design of a robot based on automatic obstacle avoidance and identification of road, at the same time, also can identify the specific objectives and pick up it. Mainly studied the mechanical structure and control system scheme of mobile robot . Analyse and compare the multiple solutions of the mechanical part and control part , and choose schemes that are suitable for this subject. For mechanical structure parts, mainly drive by wheels, in addition, equipped with a two freedoms of manipulator to pick up the target. these institutions are drived by stepper motors to achieve its action and ensure the control accuracy .The control system is mainly based on some key technologies of visual navigation sensor, with a DSP chip as the core processor of the system, and through processing information from a image sensor to control the robot's motion. Moreover, supplemented by an ultrasonic sensor, through the fusion of information of multi-sensor, make the control system more reliable.
Keywords：Mechanical structure；Sensors；Control system
目录
引言 1
1 本课题的目的和意义 2
1.1 课题的目的和意义 2
1.2 国内外研究现状与水平 2
1.3 发展趋势 4
2 方案论证 5
2.1 本课题的基本内容 5
2.1.1 课题的任务内容 5
2.1.2 原始条件及数据 5
2.1.3 设计的技术要求（论文的研究要求） 5
2.2 解决问题的方法、手段和措施 5
2.2.1 移动机器人行驶机构研究 5
2.2.2 移动机器人感知系统 7
2.2.3 测距模块 8
2.2.4 控制器模块 9
2.2.5电机的选择 10
3 移动机器人的机械结构设计 11
3.1行走驱动部分设计 12
3.2 机器人移动方向控制设计 13
3.3 移动机器人抓取机构设计 13
3.3.1 抓取机构之旋转平台设计 13
3.3.2 抓取机构之提升机构设计 14
3.3.3 抓取机构之机械手爪设计 15
4 各个零部件的设计计算与校核 16
4.1 螺纹传动设计计算 16
4.1.1 丝杆的设计材料 16
4.1.2 螺母设计 17
4.2 机械手爪传动设计计算 18
4.3 后轮齿轮传动设计计算 19
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