摘要机器人作为最近几年迅速发展起来的，最典型的机电一体化产品，被人类运用在生活、工作的各个方面，其中小型化的、轻量化和多功能的登月机器人，在航空航天上极具应用和研究价值。正是这个原因，本文设计和研究安装在登月机器人上的一个轻型的四自由度机械臂。机械臂能够完成就位探测有效仪器的放置、定位、操作及撤离等操作。机械臂作为月球车的上的重要组成部分，对顺利完成月球车就位探测至关重要。49477
本选题在研究了国内外众多机器臂的基础上，根据项目要求设计的机械臂的整体方案和相关机械结构，选定机械臂为四自由度关节包括横摇关节和腕部关节。机械臂采用微型直流电机驱动，行星齿轮减速和谐波减速器二级减速。本文介绍了一种月球车车载机械臂系统原理样机，该机械臂有四个自由度，各个关机可以独立运动，也可以在工作空间内沿直线运动。可根据指令完成展开、收拢、锁紧等任务，具有携带有些载荷完成就位探测作业的功能。在月球上工作的机械臂受各方面条件的约束其要求尤为苛刻。一方面为了保证月球车正常工作，机械臂的重量和尺寸受到严格控制。另一方面，机械臂要携带有效载荷在月球表面进行探测作业，机械臂的负载能力必须满足有有效载荷的要求。
本文是在机械臂机械设计和控制系统设计的基础上，研究讨论机械臂电气控制系统的设计。该设计主要包括三大部分：（1）机械臂机械结构的设计并建模仿真（2）机械臂控制部分的设计（3）机械臂驱动部分的设计
毕业论文关键词：机械结构；建模与仿真；电气原理；传感器选型；电机选型；
Abstract
Robots as the most rapidly developed in recent years, the most typical Mechatronic products, are all aspects of human life, his work, small, lightweight and versatile for Moon robot, great application in aerospace and research value. It is for this reason, this study on the design and installation of a light in the Moon robot four-DOF Manipulator. The picker was able to finish in place detecting a valid instrument placement, positioning, and evacuation operations, such as operation of. Mechanical arm as an important part on the Lunar Rover, is essential for successful completion of Lunar Rover seat detection.
Research on this topic on the basis of the domestic and foreign many arm, according to project requirements and design arm of the overall programme structure and related machinery, selected arm for four-DOF joints including roll joints and wrist joints. Picker using miniature DC motor drive, secondary reduction gear of planetary gear reducer and harmonic reducer. This article describes system prototype for a Lunar Rover vehicle mechanical arm, the picker is 4 degrees, shuts down independent movement, or along a linear motion in a work space. According to instructions to complete tasks such as conducting, full, locking, has completed in place to carry some load detection function of the job.
This is the manipulator mechanical design and control system design based on the study and discuss the the manipulator electrical control system design . Design mainly includes three parts : (1)the manipulator mechanical structure design and modeling and simulation (2)the manipulator control part of the design (3)part of the design of the manipulator drive.
Keywords: Mechanical structure; modeling and simulation; electrical schematic ; sensor selection ; motor selection
目录
第一章 绪论 1
1.1 研究背景 1
1.2 现代机械臂的发展状况 1
1.3 研究目的和意义 2
1.4 本章小结 EMAC-200控制四自由度机械臂+电气图+CAD图纸:http://www.youerw.com/jixie/lunwen_52443.html