摘 要
助行轮椅机器人主要针对行走不便、视弱、盲人等的老年人和残疾人，以日常生活和工作所需要的行走辅助为主要目标。助行轮椅机器人样机不但广泛应用与医院和疗养院，也常常作为家庭老人和残疾人的康复设备。本论文针对目前国内外助行轮椅机器人的重量过大、承载能力、不能适应室内/室外多种地面、辅助导航系统昂贵等不足展开研究，研制了可适应室内/室外等环境、便携式的助行轮椅机器人样机，主要包括助行轮椅机器人的机械设计、运动学分析等方面。首先，回顾和总结了助行轮椅机器人的研究历史和发展现状，对国内外各主要研究机构设计的助行轮椅机器人进行了分析和对比，并介绍了本文研究的主要内容。
其次，对机器人研制目标进行了分析，讨论确定了助行轮椅机器人样机的总体设计方案。从整体上对机器人机械设计的特点和局部结构相关元件的选择进行研究。根据作业环境的要求、负载能力，利用现代机械设计方法，通过比较各种传动方式的优缺点，由助行轮椅机器人的底盘机构设计出发，按从下到上的顺序相对独立地利用Solidworks设计了助行轮椅机器人的机构，最后经过分析，设计出实际样机。
再次，建立了该机器人在平面上的运动学模型，讨论在该模型下几种基本运动形式的实现条件，还分析齿轮传动对小车运动学模型的影响，得出提高小车运动精度可采取的措施。
关键词：助行轮椅机器人，机构设计，运动学分析
Abstract
The walking wheelchair robot is mainly aimed at the elderly and the disabled who are not able to walk, are blind and so on, and take the walking aid needed for daily life and work as the main goal. Wheelchair robot prototype is not only widely used in hospitals and nursing homes, but also as rehabilitation equipment for elderly and disabled families. In this paper, aiming at the disadvantages of the wheel-chair robot at home and abroad, such as too heavy weight, carrying capacity, unable to adapt to indoor / outdoor multi-level ground, expensive auxiliary navigation system and so on, this paper developed a suitable indoor / outdoor environment. Portable wheelchair robot prototype, mainly including the mechanical design of wheelchair robot, transportation Dynamic analysis and so on. Firstly, this paper reviews and summarizes the research history and current situation of wheelchair assisted robot, analyzes and compares the wheelchair robot designed by major research institutions at home and abroad, and introduces the main contents of this paper.
Secondly, the objective of robot development is analyzed, and the overall design scheme of the robot wheelchair robot is discussed. The characteristics of robot mechanical design and the selection of local structure related components are studied on the whole. According to the requirements of the operating environment, the load capacity, and the use of modern mechanical design methods, by comparing various kinds of transmission. The advantages and disadvantages of the dynamic mode are designed by the design of the chassis mechanism of the wheelchair robot. According to the sequence from lower to upper, the mechanism of the wheelchair robot is designed by Solidworks independently. Finally, the actual prototype is designed after the analysis.
Thirdly , the kinematic model of the robot on the plane is established , the realization conditions of several basic motions in the model are discussed , and the influence of the gear drive on the kinematic model of the trolley is analyzed , and the measures to improve the movement precision of the trolley can be obtained .
Key words : assisted wheelchair robot , mechanism design , kinematic analysis
目 录
摘 要 1
Abstract 2
1 引言 3
2 总体方案的论述 5
２.１方案的选择 5
２.2机械手的描述 6
２.3行走机构的描述 6
２.4机器人其它部位的描述 7
２.5机器人的结构草图 7
3 机器人机械手的设计计算 9
3.１ 机械手的参数确定 9
3．1.1 结构参数 9
3．1.2 运动参数 9
3．1.3关节的运动参数 9
3.2 纵关节的结构草图 12
3.5 制动及原理 15
4 机器人行走机构的设计计算 17
4.1 参数的确定 17
4.1.1结构参数和运动参数 17
4.3.1常规Mecanum轮的结构特征及运动特性： 19
4.3.2负载与行走稳定性对结构的要求 23
4.3.4 对行走机构减速电机的校核 26
5 机器人其他重要部位的校核和装配 28
5.1 机械手的固定 28
5.2 固定机械手螺栓的校核 28
5.3 机器人的装配 29
6 结 论 30
7 经济分析报告 31
致 谢 32
参 考 文 献 33
