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1、校园垃圾拾捡机器人控制机构设计学校代码：10410序号：050387本科毕业设计题目：校园垃圾拾捡机器人控制机构设计学院：工学院姓名：陆龙学号：20050387专业：机械设计制造及其自动化年级：机制051指导教师：饶洪辉二OO九年五月三日II校园垃圾拾捡机器人控制机构设计摘要随着经济的快速发展和人民生活水平的日益提高，垃圾排放量与日俱增，对环境的压力越来越大，特别是校园这种人口密集的地方，每天都在制造大量的垃圾，如废纸、塑料、废电池、果皮等。为了让校园保持清洁就必须要费大的人力物力和财力等。如果设计一种校园拾捡垃圾机器人就可以解决很大的麻烦，
2、校园捡垃圾机器人机器人是一个集环境感知、动态决策与规划、行为控制与执行等多种功能于一体的综合系统。捡垃圾机械手是由全液压控制，机械手固定在移动平台上构成的一类特殊的移动机器人系统。其中机械手用来实现如抓取、操作等动作，平台的移动用来扩展机械手的工作空间，使机械手能以更合适的姿态执行任务，机械手的加入也极大的提高了移动机器人的性能。关键词:校园；垃圾拾捡机器人；控制机构。II校园垃圾拾捡机器人控制机构设计AbstractWiththerapideconomicdevelopmentandincreasingpeople'slivingstand
3、ards,wasteemissionsbyincreasingthepressureontheenvironmentincreasing,Speciallycampusthiskindofdenselypopulationplace,everydayismakingmassivetrash,suchaswastepaper,plastics,batteries,fruit,etc..Inorderforthecampusmustbekeptcleanonthechargesofhumanmaterialandfinancialresource
4、sandsoon.Ifyoudesignacampusthatisgarbagerobotcansolvealotoftrouble,thecampusgarbagerobotisarobotenvironment-aware,dynamicdecision-makingandplanning,suchasactsofcontrolandtheimplementationofmultiplefunctionsinoneintegratedsystem.Manipulatorgarbagefromtheentirehydrauliccontro
5、l,mechanicalhandfixedinthemobileplatformconsistingofaspecialkindofmobilerobotsystem.Manipulatorwhichisusedtoachieve,suchascrawling,operationmovestoexpandmobileplatform,manipulatoroftheworkingspace,sothatrobotcanbeamoreappropriategesturetasks,theadditionofrobotisalsogreatlyi
6、mprovedtheperformanceofthemobilerobotKeywords:campus;Trashascendstopicktherobot;ControlmechanismII校园垃圾拾捡机器人控制机构设计目录摘要····································································································IAbstract················································
7、·············································II第一章绪论·····················································································11.1移动机器人概述··················································································11.1.1移动机器人的系统结构····························
8、········································11.1.2移动机械手平台系统···························
