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編號
無錫太湖學院
畢業(yè)設計（論文）
相關資料
題目： 移動機器人結(jié)構設計
信機 系 機械工程及自動化專業(yè)
學 號： 0923122
學生姓名： 趙熙熙
指導教師： 龔常洪（職稱：副教授 ）
（職稱： ）
2013年5月25日
目 錄
一、畢業(yè)設計（論文）開題報告
二、畢業(yè)設計（論文）外文資料翻譯及原文
三、學生“畢業(yè)論文（論文）計劃、進度、檢查及落實表”
四、實習鑒定表
無錫太湖學院
畢業(yè)設計（論文）
開題報告
題目： 移動機器人結(jié)構設計
信機 系 機械工程及自動化 專業(yè)
學 號： 0923122
學生姓名： 趙熙熙
指導教師： 龔常洪 （職稱：副教授 ）
（職稱： ）
2012年11月25日
課題來源
導師提供
科學依據(jù)（包括課題的科學意義；國內(nèi)外研究概況、水平和發(fā)展趨勢；應用前景等）
（1）課題科學意義
機器人的應用越來越廣泛，幾乎滲透到所有領域，移動機器人是機器人學中的一個重要分支。早在六十年代就已經(jīng)開始了移動機器人的研究。關于移動機器人的研究涉及到許多方面。首先要考慮到移動方式，輪式，履帶式，腿式的。其次考慮驅(qū)動器的控制，以使機器人達到期望的行為。第三必須考慮到導航或者路徑規(guī)劃，路徑有更多的方面考慮，如傳感融合，特征提取，避碰及環(huán)境映射。因此移動機器人是一個集環(huán)境感知動態(tài)決策與規(guī)劃，行為控制與執(zhí)行等多種功能與一體的綜合系統(tǒng)。對移動機器人的研究提出了許多新的挑戰(zhàn)或挑戰(zhàn)性的理論與工程技術課題，引起越來越多的專家技術人的興趣，更由于他在軍事偵察排雷防止污染等危險與惡劣環(huán)境以及民用中的物料搬運具有廣闊的應用前景，使得對它的研究在世界各地受到普遍關注。
（2）移動機器人研究狀況及其發(fā)展前景
移動機器人控制技術是當今自動化領域技術發(fā)展的熱點之一，受到了各方面的關注。社會的發(fā)展極大地推動了機器人的發(fā)展。輪式機器人的發(fā)展正處于快速成長階段。由于有較強的活動能力，良好的穩(wěn)定性特點，有辦公室機器人，倉庫搬運，危險未處理，醫(yī)療保健，軍用等。
國外移動機器人的發(fā)展基本沿著兩條路線，一條是以需求牽引技術發(fā)展，如日本瑞典，另一條是美國歐洲一些大學和研究機構走的學術路線，即把機器人作為研究人工智能的載體，而由于人工智能和其他智能技術距離人們的期望甚遠有待進一步發(fā)展。移動式機器人是繼工業(yè)革命后又一新領域有著廣泛的前景，并且查找相關資料我國在機器人方面比較落后，而物聯(lián)網(wǎng)技術正在發(fā)展，并且物聯(lián)網(wǎng)基地在我們無錫，或許在不久的將來，物聯(lián)網(wǎng)技術，智能控制技術，遙控技術的發(fā)展使移動式機器人會普及到家庭。
研究內(nèi)容
① 了解移動式機器人的工作原理，國內(nèi)外的研究發(fā)展現(xiàn)狀；
② 完成移動機器人的總體結(jié)構和參數(shù)設計；
③ 建立移動機器人的運動學模型及機器人四輪轉(zhuǎn)向系統(tǒng)的動力學模型；
④ 研究其自主控制問題，并驗證其合理性；
⑤ 熟練掌握有關計算機繪圖軟件，并繪制裝配圖和零件圖紙，折合A0不少于3張；
⑥ 完成設計說明書的撰寫，并翻譯外文資料1篇。
擬采取的研究方法、技術路線、實驗方案及可行性分析
（1）研究方法：
通過參閱借來的參考資料，認真研究移動機器人的運動方式，了解移動機器人的工作原理，與指導老師交流來完成對移動式機器人結(jié)構的畢業(yè)設計。
（2）技術路線：
提出任務分析對移動機器人的需求確定任務要求，完成設計任務書。方案設計階段對移動機器人的運動方式進行分析比較，確定一種簡單便捷的可行性運動方式。技術設計階段進行后輪差速系統(tǒng)的設計，前輪轉(zhuǎn)向輪的設計，直流伺服電機的選擇，蓄電池的選擇，減速機構蝸輪蝸桿的參數(shù)的設計，輪胎大小的選擇。完成對移動機器人的運動學建模與動力學建模，并設計其自主控制系統(tǒng)。最后繪制出方案設計階段對檢測車功能進行分析提出可能的解決方案，繪制出零件圖部件圖總裝圖最后完成技術文件的編制其中包括編制設計計算說明書、使用說明書、標準明細表、其他技術文件等。，技術可行性。
作為機械專業(yè)的學生所常用的必備軟件，SolidEdge、CAD軟件。
研究計劃及預期成果
研究計劃：
2012年11月12日-2012年1月20日：按照任務書要求查閱論文相關參考資料，填寫畢業(yè)設計開題報告書，并實訓。
2013年2月11日-2013年2月23日：找一篇相關外文期刊并翻譯。構建框架，完成第一章緒論。
2013年3月4日-2013年3月8日：完成總的結(jié)構方案設計。
2013年3月11日-2013年4月20日：開始繪圖，完成裝配圖以及部件圖的繪制。
2013年4月22日-5月3日：著手寫說明書初稿，修改，完成初稿。
2013年5月6日-5月20日：修改說明書并定稿，打印，整理資料準備答辯。
特色或創(chuàng)新之處
（1）主題明確，有針對性，穩(wěn)定， 易實現(xiàn)。
（2）結(jié)構合理，功能完善，機器人的移動能基本實現(xiàn)。
已具備的條件和尚需解決的問題
（1）技術條件：整體構架基本明確，，已經(jīng)具備使用二維三維作圖的能力。
（2）尚未解決的問題：技術還不夠成熟，靈活性較弱。
指導教師意見
指導教師簽名：
年 月 日
教研室（學科組、研究所）意見
教研室主任簽名：
年 月 日
系意見
主管領導簽名：
年 月 日
英文原文
Weld robot application present condition
According to incompletely statistics, the whole world about has in the industrial robot of service nearly half of industrial robots is used for multiform weld to process realm, weld robot of application in mainly have two kinds of methods most widespreadly, then order Han and electricity Hu Han.What we say's welding robot is in fact welding to produce realm to replace a welder to be engaged in the industrial robot of welding the task.These weld to have plenty of to design for being a certain to weld a way exclusively in the robot of, but majority ofly weld robot in fact is an in general use industrial robot to pack up a certain weld tool but constitute.In many task environments, a set robot even can complete include weld at inside of grasp a thing, porterage, install, weld, unload to anticipate etc. various tasks, robot can request according to the procedure with task property and automatically replace the tool on the robot wrist, the completion corresponds of task.Therefore, come up to say from a certain meaning, the development history of industrial robot is the development history that welds robot.
Know to all, weld to process to request that welder have to have well-trained operation technical ability, abundant fulfillment experience, stability of weld level;It is still a kind of labor condition bad, many smoke and dust, hot the radiation is big, risk Gao of work.The emergence of the industrial robot makes people naturally thought of first the handicraft that replace a person with it welds and eases the welder's labor strength, can also promise to weld quality and exaltation to weld an efficiency at the same time.
However, weld again with other industry process process different, for example, electricity Hu Han process in, drive welder piece because of part heat melt with cool off creation transform, the Han sews of the track will therefore take place to change.Handicraft Han the experienced welder can sew position according to the actual Han observed by eyes adjustment Han in good time the position, carriage of the gun and run about of speed to adapt to the variety that the Han sews a track.However the robot want to adapt to this kind of variety, have to the position and status of gun that want to"see" this kind of to change, then adopt homologous measure to adjust Han like person first, follow while carrying out to sew actually to the Han.Because the electricity Hu welds to have in process strong arc light, give or get an electric shock Hu noise, smoke and dust and Rong drop transition unsteady and causable Han silk short circuit, big electric current strong magnetic field etc. complicated environment factor of existence, the robot wants to examine and identifies a withdrawing of the signal characteristic needed for sewing Han and don't seem to be industrial the other in the manufacturing to process the examination of process so easily, therefore, welding the application of robot is to used for to give or get an electric shock the process of Hu Han in the beginning.
Actually, industrial robot at welded the application of realm to produce on-line electric resistance to order a Han beginning from the car assemble at the earliest stage.The reason lies in the process that the electric resistance orders Han opposite more simple, control convenient, and not need Han to sew a track follow, to the accuracy of the robot and repeat the control of accuracy have lower request.Order the Han robot assembles to produce a great deal of on-line application to consumedly raise the rate of production that the car assemble welds and weld quality in the car, at the same time again have a gentle characteristics for welding, then want ~only change procedure, can produce in the same on-line carry on assemble to weld to different cars type.
BE born till the beginning of this 80's in century from the robot, the robot technique experienced a development process of long term slowness.90's, along with the rapid development of calculator technique, micro-electronics technique, and network technique...etc., the robot technique is also flown soon a development.The manufacturing level, control speed and control accuracy and dependable sex etc. of industrial robot continuously raises, but manufacturing cost and price of robot continuously descend.Is social in the west, with contrary robot price BE, the person's labor force cost contains the trend to continuously increase.United Nations European Economic Committee(UNECE) statisticses from the variety curve of 1990-2000 years of the robot price index number and labor force cost index number.Among them the robot price of 1990 index number and labor force cost the index number is all reference to be worth 100, go to 2000, labor force cost index number is 140, increased 40%;But robot under the sistuation that consider a quality factor the price index number is lower than 20, lowered 80%, under the sistuation that take no account of a quality factor, the price index number of robot is about 40, lowered 60%.Here, the robot price that takes no account of a quality factor means actual price of the robot of now with compared in the past;And consider that the quality factor means because the robot make the exaltation of craft technique level, manufacturing quality and function of robot even if want also under the condition of equal price compare high before, therefore, if pressed the past robot equaled quality and function to consider, the price index number of robot should be much lower.
Can see from here, national in the west, because the exaltation of labor force cost brings not small pressure for business enterprise, but the lowering of robot price index number coincidentally expands application to bring a chance further for it again.Reduce the equipments investment of employee and increment robot, when their expenses attains some one balance point, the benefit of adoption robot obviously wants to compare to adopt the benefit that the artificial brings big, it on the other hand can consumedly raise the automation level of producing the equipments and raise to labor rate of production thus, at the same time again can promote the product quality of business enterprise, raise the whole competition ability of business enterprise.Although robot 1 time invests a little bit greatly, its daily maintenance and consume is more opposite than its to producing far is smaller than completing the artificial expenses that the same task consumes.Therefore, from farsighted see, the production cost of product also consumedly lowers.But the robot price lower to make some small and medium enterprises invest to purchase robot to become easy to accomplish.Therefore, the application of industrial robot is soon flown a development in every trade.According to the UNECE statistics, the whole world has 750,000 in 2001 set the industrial robot is used for industry manufacturing realm, among them 389,000 in Japan, 198,000 in EU, 90,000 in North America, 73,000 at rest nation.Go to at the end of 2004 the whole world to have at least in the industrial robot of service about 1,000,000.
Because the robot controls the exaltation of speed and accuracy and particularly give or get an electric shock the development that the Hu spreads a feeling machine to combine to weld in the robot in get an application, make the robot give or get an electric shock the Han of Hu Han to sew a track to follow and control a problem to some extent and get very solution, the robot welds in the car to make the medium application orders Han to soon develop into the car zero from originally more single car assemble partses and electricity Hu within assemble process Han.Robot's giving or getting an electric shock the biggest characteristics of Hu Han is gentle, can immediately pass to weave a distance at any time a change to weld a track and weld sequence, therefore most be applicable to quilt welder piece the species variety is big, the Han sew short but many, product with complicated shape.This at the right moment again characteristics according to car manufacturing.Being the renewal speed of the particularly modern social car style is very quick, adopting the car production line of robot material can nicely adapt to this kind of variety.
Moreover, robot's giving or getting an electric shock Hu Han not only used for a car manufacturing industry, but also can used for other manufacturing industries that involve to give or get an electric shock Hu Han, like shipbuilding, motorcycle vehicle, boiler, heavy type machine etc..Therefore, the robot gives or gets an electric shock the application of Hu Han gradually extensive, on the amount greatly have exceed the robot order the power of Han.
Along with car reducing in weight manufacturing the technical expansion, some high strong metal alloy materials and light metal alloy material(is like aluminum metal alloy, and magnesium metal alloy...etc.) get an application in the material in the car structure.These materials' welding usually can not solve with the welding of tradition method, have to adopt to lately weld a method and weld a craft.Among them, Gao power laser Han and agitation rub Han etc. to have to develop a potential most .Therefore, robot and Gao power laser Han and agitation rub combining of Han to become inevitable trend.Be like the public in Shanghai to wait domestic to most have the car manufacturer of real strenght in fact at their new car type manufacturing process in have already in great quantities used robot laser to weld.
Give or get an electric shock Hu Han to compare with robot, robot laser the Han of the Han sews to follow accuracy to have higher request.According to the general request, the robot gives or gets an electric shock the Han of Hu Han(include GTAW and GMAW) to sew to follow accuracy to control in 1| of the electrode or the Han silk diameter 2 in, at have the condition that fill the silk under the Han sew to follow accuracy to loosen appropriately.But to laser Han, the laser projects light upon the light spot in the work piece surface while welding diameter usually at 0.6 in, is farer small than Han silk diameter(be usually bigger than 1.0), but the laser weld usually and not add to fill Han silk, therefore, the laser is welding if only the spot position has a little bit deviation, then will result in to be partial to Han and leak Han.Therefore, the robot laser of the public in Shanghai's car car crest Han in addition to pack in the work tongs up adopt measure to prevent from welding to transform, still just the robot laser Han gun front installed the high accuracy laser of SCOUT company in Germany to spread a feeling machine to used for Han to sew a following of track.
The structure form of industrial robot is a lot of, in common usely have right angle to sit mark type, flexible type, and crawl along type...etc. by mark type, many joints by mark type, surface of sphere by mark type, pillar noodles, according to different use still at continuously development in.It is many robots of joint types of the mimicry person's arm function to weld what robot can adopt a different structure form according to the applied situation of dissimilarity, but use at most currently, this because the arm vivid of many joint type robots is the biggest, it can make space position and carriage of Han gun adjust into arbitrarily the status weld by satisfying a demand.Theoretically speak, the joint of robot is many more, the freedom degree is also many more, the joint redundancy degree is big more, and the vivid is good more;But also go against the sitting of kinetics control of marking the transformation and each joint position for robot to bring complexity at the same time.Because weld to usually need in the process with the space right angle sit to mark the Han on the representative work piece to sew position conversion for the Han gun carry the space position and carriage of department and pass robot again go against the kinetics compute a conversion for to the control of robot each joint angle position, but the solution of this transformation process usually isn't unique, the redundancy degree is big, solve more many more.How select by examinations the steady that the quite the cheese solution welds to exercise in the process to the robot very important.Different treatment of system to this problem of the robot control doesn't exert a homology.
Is general to come to speak, have 6 controls request of positions and space carriages that the robots of joints basically can satisfy a Han gun, 3 among those freedoms degree(XYZ) space position used for controling a Han gun to carry a department, another 3 freedom degrees(ABC) are used for the space carriage that controls a Han gun.Therefore, currently weld robot majority as 6 joint types.
For some weld situation, work piece because of leading big or the space is several what the shape is too complicated, make the Han gun of welding the robot can not arrive appointed Han to sew position or Han gun carriage, have to pass the freedom degree of the way increment robot of increasing 1~3 exterior stalks at this time.Usually have two kinds of way of doings:One is the orbit that the robot Be packed to to move small car or Dragon gate up, the homework space of extension robot;Two is to let the work piece move or turn, make work piece up of weld the homework space that the part gets into robot.Also have of adopt two kinds of above-mentioned ways at the same time, let the welding of work piece part and robots all be placed in the best weld position.
Weld the plait distance of robot method currently still with on-line show and teach a way(Teach-in) is lord, but wove the interface ratio of distance machine to have many improvements in the past, particularly is the adoption of LCD sketch monitor and make and weld the plait distance of the robot interface lately gradually friendly, operation more easy.However robot plait distance Han's sewing the key point on the track to sit to mark position still have to pass to show to teach the way how to obtain, then deposit the sport instruction of procedure.This sews track to some Hans of complicated shapes to say, have to cost a great deal of time to show to teach and lowered the use efficiency of robot thus and also increased the labor strength of weaving the distance personnel.The method that solves currently includes 2 kinds:
One is show to teach a plait distance just rough obtain a few Hans to sew a few keys on the track to order, then spread a feeling machine(usually is give or get an electric shock Hu to spread feeling machine or laser sense of vision to spread a feeling machine) through the sense of vision of welding the robot of auto follow the actual Han sew a track.Although this way still cans not get away from to show to teach a plait distance,this way cans ease to show the strength of teaching the plait distance to some extent and raises to weave a distance efficiency.But because of the characteristics of electricity Hu Han, the sense of vision of robot spreads a feeling machine be not sew forms to all apply to all Hans.
Two is the way that adopts a completely off-line plait distance, make the robot weld drawing up of procedure and Han to sew a track to sit to mark adjusting of obtaining of position, and procedure to try all to compute in a set to independently complete on board, don't need participation of robot.Robot off-line plait distance as early as several years ago have, just in order to being subjected to restriction of the calculator function at that time, off-line plait distance software with text originally way is lord, wove a distance member to need to acquaint with the all instruction systems and phrasing of robot, also needed to know how made sure that the space position that the Han sews a track sits a mark, therefore, wove a distance work to not and easily save time.Along with exaltation and calculator of the calculator function 3D sketch technical development, present robot off-line plait distance system majority can under the 3D sketch environment movement, the plait distance interface amity, convenience, and, obtaining Han to sew a sitting of track to mark position usually can adopt the way of "conjecture show to teach"(virtual Teach-in), using a mouse to easily click the welding of work piece in the 3D virtual environment the part can immediately the space acquiring the sit a mark;In some systems, can sew directly born Han of position to sew a track through the Han that define in advance in the CAD sketch document, then the automatically born robot procedure combines to download robot to control system.Thus and consumedly raised the plait distance of the robot efficiency, also eased the labor strength of weaving the distance member.Currently, it is international to there have been using an off-line plait distance of robot according to the company of common PC machine on the market software.It is like Workspace5, and RobotStudio...etc..Figure 9 show develop by oneself for t