摘要： 本设计通过研究国内外移动机器人的发展近况及未来发展预期，结合课题所要求的工作环境、工作负载、工作要求，设计出一台手眼式移动小车。并具有良好的精度、稳定性、使用寿命、经济适用性，行动灵巧、反应敏捷、承载力好。

本设计通过建立力学模型来对使用中的力、速度、角度来进行分析设计，确定各部件形状尺寸。并对小车各部分的结构做了详细可靠的分析与设计，通过细致的计算和校核保证了其安全性、稳定性。主要包括：小车整体驱动系统的分析与设计，机械臂的结构设计，机械臂的驱动方式的设计，机械臂的强度校核，机械手爪的抓合方式的分析与设计，机械手爪的驱动设计，机械手爪的保护，连接件强度校核，机器人视觉导航系统的确定，路径规划的方法的确定。

最后，对本设计进行了总结，本设计的手眼移动机器人的稳定性，可靠性，安全性高，达到了本设计的设计要求。

关键词：手眼移动机器人，机械臂，差速器，机械手爪。 

Hand-eye movement robot

Abstract：With the rapid development of global robotics technology in recent years, the application of robots has penetrated almost every field, and the types of robots have also become more and more, not only robots, robotic arms, but also mobile robots that stay in the industrial production line. Robots combine robots with more versatile robotic jaws on the basis of mobile robots. This type of robot has a wide range of industrial applications, such as handling robots, palletizing robots, and the like. The purpose of this design is to be able to help people in more detailed aspects of industrial production, life, scientific research and other aspects. Mobile robot is a multi-functional integrated system integrating environmental awareness, dynamic decision-making and planning. It is an artificial intelligence discipline that integrates sensor technology, information processing, electronic engineering, computer engineering, and automation technology. It is a combination of several leading technology in both science and mathematics. This paper designs a hand-eye mobile trolley by studying the development status of the mobile robots and the future development prospects, combining the work environment, workload, and work requirements required by the project. And it has good precision, stability, service life, economic applicability, dexterity, quick reaction and good bearing capacity. This design establishes a mechanical model to analyze and design the forces, speeds, and angles in use to determine the shape and size of each component. And detailed and reliable analysis and design of the car structure, calculation and check. Mainly include: selection of driving wheel motor and steering wheel motor and design of its driving, design of driving method of arm, strength check of arm, strength check of connecting piece, design of grasping method of mechanical hand claw, mechanical hand claw    Drive design. The determination of the visual navigation system and the determination of the path planning method. Finally, the design is summarized. The hand-eye mobile robot designed has high stability, reliability and safety, which meets the design requirements of this design.

Keywords：Hand-eye movement robot, robotic arm, differential, mechanical gripper.

目录

1  绪论

1.1  课题背景与设计意义..1

1.2  国内外移动机器人介绍1

1.2.1  国外移动机器人发展现状.1

1.2.2  国内移动机器人发展现状.2

1.2.3  常见移动机器人结构与系统..2

1.3  移动机器人关键技术..3

1.4  方案分析及设计要求..4

1.5  本设计完成工作5

2  方案简述及本体结构初定.6

2.1  方案简述6

2.1.1  移动小车运动方式的选择..6

2.1.2  移动小车驱动方案的选择..8