编号：时间：2021年x月x日书山有路勤为径，学海无涯苦作舟页码：第PAGE27页共NUMPAGES27页第PAGE\*MERGEFORMAT27页共NUMPAGES\*MERGEFORMAT27页抗灾救援机器人设计说明书设计者：吴伟明，张恒，王世海（浙江工业大学机械工程学院，杭州310000）摘要：论文对抗灾救援的模拟环境（包含通过隧洞与河道和两种不同形状救援目标的取放）进行了研究，设计出一种能够在模拟环境中完成设计要求的抗灾救援机器人。在对设计要求进行具体的分析后，论文提出了一系列包括通过河道机构以及抓取放置机构的理论方案。通过方案的对比定出性能相对较高的侧向展开式底盘和手爪张合式机械爪。具体机构的实现中，方案在采用链轮传动、齿轮传动等经典模式的同时，更是做出了一系列的改进和创新：其中，通过辅助导轨的运用实现了车体的侧向展开，实现了直接通过河道的方案；通过弹性联轴器的运用提高了手爪的稳定性和抓取能力。关键词：抗灾救援通过河道机构抓取放置机构目录中文摘要··················································································1目录······················································································2第一章设计题目与内容1.1竞赛题目·············································································31.2参赛作品的总体要求···································································31.3竞赛方案·············································································31.4竞赛场地及用品规格···································································3第二章机械装置原理方案的构思与拟定2.1题目分析·············································································52.2方案拟定2.2.1关于行走部分的方案选取··························································52.2.2关于通过“河道”的方案选取·······················································62.2.3对于取物装置的方案选取··························································82.2.4对于③区盖板的处理方案··························································92.2.5最终方案的确定·································································10第三章抗灾救援机器人主要结构、传动方案的设计3.1抗灾救援机器人的主要结构3.1.1抗灾救援机器人三维三视图·······················································113.1.2底盘机构·······································································123.1.3机械臂结构·····································································133.1.4机械臂抓取机构·································································143.2抗灾救援机器人传动方案设计3.2.1行走部分·······································································153.2.2机械臂部分··························