畢業(yè)論文標(biāo)準(zhǔn)WORD格式排版 50頁(yè)

摘要
對(duì)于我們的未來(lái)生活，每個(gè)人有不同的構(gòu)想，但大多數(shù)人都相信，在將來(lái)的社會(huì)，機(jī)器狗將作為家庭的一員進(jìn)入我們的生活，與我們每天朝夕相處。可現(xiàn)在普遍存在人們心中的疑問(wèn)是：將來(lái)機(jī)器狗將以何種身份進(jìn)入我們的生活，是玩伴還是傭人，智能機(jī)器狗的設(shè)計(jì)就是為了將來(lái)機(jī)器狗能進(jìn)入我們中國(guó)人的家庭生活，為我們的家庭生活帶來(lái)歡樂(lè)。
本設(shè)計(jì)采用關(guān)節(jié)型結(jié)構(gòu)，成功地設(shè)計(jì)了智能機(jī)器狗的本體結(jié)構(gòu)。本機(jī)器狗具有前后行、平地側(cè)行等基本行走功能。另外機(jī)器狗頭部還裝有CD攝影機(jī)，胸腔內(nèi)部可裝備內(nèi)置電源和智能設(shè)備。本設(shè)計(jì)參考了狗的結(jié)構(gòu)組成，使得機(jī)器狗結(jié)構(gòu)盡量與狗的本體結(jié)構(gòu)相似，尤其在長(zhǎng)度配比方面。本設(shè)計(jì)的結(jié)構(gòu)比較復(fù)雜，關(guān)節(jié)數(shù)目眾多，為了力求優(yōu)化設(shè)計(jì)，設(shè)計(jì)者兼顧了關(guān)鍵部件的互換性和結(jié)構(gòu)緊湊的原則。所有的關(guān)節(jié)都用了2036型的直流伺服電機(jī)作為驅(qū)動(dòng)源，充分利用伺服電機(jī)的特性。伺服電機(jī)的驅(qū)動(dòng)都采用了諧波減速器機(jī)構(gòu)，該減速方案減速比大、效率高，是比較理想的減速方案。

關(guān)鍵詞：智能機(jī)器狗； 結(jié)構(gòu)設(shè)計(jì)； 諧波傳動(dòng)

Intelligent robot dog frame design
Abstract
For our future life, everyone had different ideas, but most people believe that, in future society, the robot dog as a family into our lives, and we can now daily overnight with the common people's hearts Question is: what will be the future status of robot dog into our lives, playmates or servants, the design of intelligent robot dog is to the future robot can enter our Chinese people's family lives, for our happy family life.
The design of a joint structure, the successful design of intelligent robot dog, the body structure. The robot dog has before and after the trip, the ground adjacent to the basic operating functions. Another robot is also equipped with CD camera head, chest internal equipment can be built-in power supply, and intelligent. The reference design of the structure of the dog, making the structure as the robot dog, the dog's body similar to the structure, particularly in the area ratio of length. The design of the structure is more complicated, the large number of joints, in an effort to optimize the design, designers take into account the interchangeability of key components of the compact structure and principles. All joints are composed of a 2036-type of DC servo motor as a driver and make full use of servo motor characteristics. Servo motor drives are used harmonic reducer, the slowdown in the programme reduction ratio, high efficiency, The ideal slowdown is a good programme.

Keywords　 intelligent robot dog; structural design; harmonic drive

目錄
摘要I
AbstractII

第1章 緒論1
1.1 本課題的來(lái)源、研究目的和意義1
1.2 國(guó)內(nèi)外智能機(jī)器人的發(fā)展概況3
1.3 本設(shè)計(jì)的主要內(nèi)容5
第2章 智能機(jī)器狗的設(shè)計(jì)6
2.1自由度的分配及結(jié)構(gòu)方案的設(shè)計(jì)6
2.1.1自由度的分配6
2.1.2結(jié)構(gòu)方案的設(shè)計(jì)6
2.2關(guān)節(jié)驅(qū)動(dòng)方案的選擇9
2.3傳動(dòng)方案的選擇10
2.3.1傳動(dòng)方式10
2.3.2減速器和減速比的選擇10
2.3.3電機(jī)與減速器的連接方式13
2.4結(jié)構(gòu)特點(diǎn)及性能參數(shù)14
2.4.1智能機(jī)器狗的結(jié)構(gòu)特點(diǎn)14
2.4.2智能機(jī)器狗的結(jié)構(gòu)性能參數(shù)14
第3章 部分關(guān)節(jié)部件設(shè)計(jì)計(jì)算17
3.1各關(guān)節(jié)力矩的計(jì)算17
3.1.1膝關(guān)節(jié)靜力矩的計(jì)算17
3.1.2髖關(guān)節(jié)向前后運(yùn)動(dòng)自由度的靜力矩的計(jì)算17
3.1.3髖關(guān)節(jié)左右擺動(dòng)時(shí)靜力矩的計(jì)算18
3.1.4頸關(guān)節(jié)擺動(dòng)時(shí)的靜力矩的計(jì)算20
3.2諧波傳動(dòng)組件的選擇與計(jì)算20
3.3圓柱齒輪減速器組件選擇與計(jì)算20
3.4各關(guān)節(jié)所需電機(jī)的選擇與計(jì)算21
第4章 其它部件的選擇23
第5章 成本估算和環(huán)保分析25
5.1成本估算25
5.2環(huán)保與經(jīng)濟(jì)分析25
結(jié)論27
致謝28
參考文獻(xiàn)29
附錄30