摘要
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平行四邊形步行機器人的設(shè)計主要內(nèi)容包括本課題的研究現(xiàn)狀、目的及意義、國內(nèi)外研究現(xiàn)狀與成果應(yīng)用、平行四邊形步行機器人的功能分析、原理設(shè)計以及標準件的選用和關(guān)鍵零件的設(shè)計核對，通過參考相關(guān)設(shè)計經(jīng)驗，作出原理改進，并進行分析、計算、驗證，得出了較為可靠地設(shè)計結(jié)論。此設(shè)計的重點在于機械運動部分，主要采用了平面四桿機構(gòu)。本次設(shè)計中的機器人變形機構(gòu)主要由四桿部分、動力部分兩部分組成，采用伺服電機提供動力支持。在此次設(shè)計中主要著手于動力部分和四桿部分的傳動分析與設(shè)計，對所用的幾個主要的零件做了詳細設(shè)計，并對主體進行了虛擬樣機演示。
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關(guān)鍵詞 機器人；步行；四桿機構(gòu)
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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