文档介绍：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)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·····························································································································································································································································································································································································································································································································“河道”的方案选取·················································································································③区盖板的处理方案···························································································································10第三章抗灾救援机器人主要结构、····················································································································································································································································································································································································································································································································