摘 要
機(jī)器人是一門涉及計(jì)算機(jī)科學(xué)、機(jī)械、電子、自動(dòng)控制、人工智能等多個(gè)方面的科學(xué)。
步行者機(jī)器人是一臺(tái)在四連桿機(jī)構(gòu)的基礎(chǔ)上而設(shè)計(jì)出來的爬樓梯機(jī)器人。它最大的特點(diǎn)是能夠始終保持自身重心，實(shí)現(xiàn)爬上樓梯的目的，動(dòng)作穩(wěn)定，優(yōu)美。雖然該作品結(jié)構(gòu)較為簡單，但是其中采用了模塊化設(shè)計(jì)，使其可以隨時(shí)更新、升級(jí)（這是現(xiàn)今機(jī)電一體化工程中鮮有的設(shè)計(jì)方法）；使機(jī)器不僅能適應(yīng)不同的樓梯，更可以在不同情況的路面上發(fā)揮其作用。其中利用的仿生學(xué)原理使該機(jī)器人即使在路況不是很好的情況下也可以穩(wěn)定的進(jìn)行工作。
1、進(jìn)行了較完善和全面的方案設(shè)計(jì)而后分析論證。重點(diǎn)分析討論了其中具有代表性的三個(gè)方案。并從中選取一個(gè)作為設(shè)計(jì)方案。
2、對(duì)于機(jī)器人運(yùn)動(dòng)方式，系統(tǒng)設(shè)計(jì)及其驅(qū)動(dòng)要求進(jìn)行了認(rèn)真仔細(xì)的分析，對(duì)比和計(jì)算校核。
3、針對(duì)已定方案的設(shè)計(jì)計(jì)算，進(jìn)行了實(shí)際制作從而驗(yàn)證了機(jī)構(gòu)的可行性。

關(guān)鍵詞：機(jī)器人 爬行 臺(tái)階

ABSTRACT
Robot is a kind of science related to many other ones such as computer science, mechanism, electronics, automation control and artificial intelligence.
STEPMAN is a robot for climbing staircase. His design is based on a framework of four-link-shank. He can keep his barycenter in the front of his body all the time of the process of climbing staircase. His act is steadily and graceful. STEPMAN can upgrade at any moment, because of his modularity design. His bionics design made he can fit different types of road surface.
1、Through overall design and carefully analysis, we pick up one of the three representative projects.
2、We carried out considerable analysis, comparison, calculation and verification on the robots’ movement, systematic design as well as the requirement of drive.
3、According to the design and calculation in the project, I put it in practice and verify the feasibility of the machine.

Key words : robot climb step

目錄
前言…………………………………………………………………………………1

第一章 機(jī)械的功能原理設(shè)計(jì)
1．1 實(shí)現(xiàn)功能………………………………………………………………………2
1．2 原理設(shè)計(jì)………………………………………………………………………2

第二章 運(yùn)動(dòng)方案設(shè)計(jì)分析
2．1 方案設(shè)計(jì)………………………………………………………………………3
2．1．1 方案一……………………………………………………………………3
2．1．2 方案二……………………………………………………………………3
2．1．3 方案三……………………………………………………………………3
2．2 方案的對(duì)比和分析…………………………………………………………… 4

第三章 零件的選定與基本計(jì)算
3．1 材料選取與電機(jī)選取…………………………………………………………4
3．2 驅(qū)動(dòng)系統(tǒng)技術(shù)參數(shù)的計(jì)算……………………………………………………5
3．2．1 功率的計(jì)算………………………………………………………………5
3．2．2 死點(diǎn)位置的計(jì)算與處理…………………………………………………6

第四章制作與改進(jìn)
4．1 制作過程遇到的問題及改進(jìn)方案……………………………………………7
4．2 調(diào)試及改進(jìn)結(jié)果………………………………………………………………7
4．3機(jī)械運(yùn)動(dòng)方案圖…………………………………………………………………9

第五章總結(jié)
5．1總結(jié)和設(shè)計(jì)制作感受………………………………………………………… 10

參考文獻(xiàn)及相關(guān)網(wǎng)址……………………………………………………………… 11