摘 要
移动机器人作为机器人学发展中的一个重要分支，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。机械臂是机器人的重要组成部分，他是机器人的执行机构，组合式机械臂是由若干一维机械臂以不同夹角组合而成，可实现机械臂的直线伸缩，或在X-Y平面移动，或在X-Y-Z空间定位等功能，以满足不同场合下的需要。
本文针对移动机器人组合式机械臂进行设计，首先进行总体的设计方案，拟定螺旋传动副为一维机械臂传动方案，对方案进行特点分析，然后针对关键传动件设计，选择电动机，对重要零件进行强度校核，对轴和轴承的寿命进行计算校核，最后对重要零部件进行结构设计，包括材料的选择、尺寸的确定、结构工艺性的满足、以及与其他零件的配合的要求等。
关键词：一维机械臂，组合机械臂，移动机器人，X-Y平面
AbstractMobile robot is an important branch of robotics development, is a comprehensive system including environment detecting, a variety of dynamic decision and planning, action control and execution in one. Manipulator is an important part of the robot, he is the executive body of the robot, the combined mechanical arm is composed of several one-dimensional manipulator with different angle combination, linear expansion can realize mechanical arm, or move on the X-Y plane, or function in X-Y-Z space positioning, to meet different occasions.
In this paper, the mobile robot combined mechanical arm design, firstly, the overall design scheme, make the spiral transmission pair transmission scheme of one-dimensional mechanical arm, characteristics analysis of the scheme, then the motor selection for key transmission parts, design, strength check of important parts, the life of the shaft and bearings are calculated, finally the structural design of the main parts, including material selection, determine the size, structure, and meet the demand for cooperating with other parts etc..
Key Words: One-dimensional mechanical arm, mechanical arm, mobile robot, X-Y plane
