老年助行机器人机构设计论文+三维模型

参考文献35

致谢38

附录1:文献综述39

附录2:开题报告45

附录3:外文翻译50

智能助行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、便携式的智能助行机器人样机，主要包括助行机器人的机械设计、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Pro/E设计了助行机器人的机构，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：助行机器人，机构设计，运动学分析。

The intelligent assistant robot mainly aims at helping the aged andthe disabled who are weak-eyed, blind, or have difficulty walking, and itsmain target is to assist in walking for those people during their daily lifeand work time. The assistant robot can not only be widely used inhospitals and nursing home, but also can be used for the rehabilitationequipment for the aged and disabled. The thesis does research on thedisadvantages of the assistant robot at home and abroad at present, which is usually overweighted, with low carrying capacity, unable towalk in both indoor and outside environment, and expensive in auxiliarynavigation system. A conveniently portable prototype for assistant robotis designed which can be used in both inside and outside environment, itsmainly content includes mechanism design and kinematics analysis.

Firstly, the thesis reviews and summarizes the research history anddevelopment status of assistant robot, and does analysis and comparisonmainly on assistant robot at home and abroad. Secondly, the research target of assistant robot is analyzed, and theoverall design scheme of prototype is discussed and confirmed. Thefeatures of mechanism design of robot and the choice on components ofmodules are researched as a whole. According to the requirements ofwork environment, carrying capacity, Using Modern mechanical designmethod and making comparison on advantages and disadvantages ofvariable transmission methods, the mechanism of assistant robot isdesigned by Pro/E, and the design of robot is started from the chassismechanism which is from the bottom up independently.

Thirdly, the kinematics model of the robot on the flat surface isestablished, and the conditions to realize 3 forms of motion are discussedunder the model. Also, the effect of gear transmission on kinematicsmodel is discussed and the measures to improve motion precision aremade.

Keywords：Assistant robot, Mechanism design, Kinematicsanalysis.

摘要I

AbstractII

第1章绪论1

1.1课题背景1

1.2国外助行机器人的研究1

1.2.1爱尔兰PAM-AID助行机器人1

1.2.2美国SmartCane助行机器人2

1.2.3韩国WAR助行机器人3

1.2.4日本助行机器人4

1.2.5可穿戴的外骨骼式助行机器人4

1.3国内助行机器人的研究5

1.3.1多功能助行机器人5

第2章助行机器人的总体设计方案8

2.1助行机器人研制目标8

2.1.1适用环境分析8

2.1.2使用人群分析8

2.1.3运行速度9

2.1.4工作时间和自重9

2.2助行机器人的总体方案设计9

2.2.1基本方案9

2.2.2助行机器人的基本技术参数确定10

2.2.3机构设计分析11

2.2.4驱动方式的选择12

2.2.5助行机器人的材料选择13

2.2.6助行机器人的整体控制方案14

2.3.现有的助行机器人的优缺点分析15

2.4.助行机器人的设计方案16

2.5.本章小结17

第3章助行机器人各组成部分结构设计18

3.1助行机器人的机构模块确定19

3.2.驱动元件和传动元件的选择20

3.2.1驱动元件的选择20

3.2.2传动元件的选择21

3.3.底盘模块的机构设计24

3.3.1底盘模块的相关计算与电机选择24

3.3.1.1驱动轮的选择24

3.3.1.2非驱动轮的选择24

3.3.1.3电机驱动单元的选择24

3.3.2样机重要零部件设计26

3.2.2.1、链轮链条传动26

3.2.2.2、固定心轴的设计27

3.2.2.3、悬臂梁的设计28

3.3.3伞齿轮设计29

3.3.4驱动轮模块设计29

3.3.5非驱动轮模块30

3.4.辅助升降机构30

3.4.1确定设计方案30

3.4.2丝杠螺母选择31

3.4.3电机及减速器等的选择32

3.4.3.1、功率计算和电机选择32

3.4.3.2、联轴器的选用32