摘 要
恐怖活動是個人或集團，為實現某種目的而運用暴力或威脅手段，蓄意制造恐慌氣氛的行動。美國“911”事件、莫斯科人質事件、印尼巴厘島恐怖爆炸等恐怖活動使整個世界籠罩了一層死亡陰影。隨著機器人技術的發展，能代替人在危險環境中進行作業的機器人技術逐漸成熟。在這樣的形勢下，各國均十分重視反恐機器人的研究，來代替人去執行如排爆、解救人質、偵查、探索、掃雷等較危險的反恐任務。
浙江省第三次機械設計競賽即以反恐機器人的設計和制作作為比賽題目。其主要針對解救人質的反恐任務進行設計，要求機器人能夠實現小角度轉彎、通過限高限寬的隧道、跨越壕溝、翻越隔離墻、準確定位解救人質、快速轉移多個人質等動作。即要求其具有較強的行走能力，越障能力和搭載能力，整個任務需在限定時間內完成。本畢業設計按照省機械設計大賽的要求，設計和制作了反恐機器人。
本文綜述了機器人的發展，針對課題要求詳細設計了反恐機器人原理方案。為增強反恐機器人的機動性能和越障能力，采用了輪履結合的行走方式，其具有輪式和履帶式行走的優點，既能在平坦地面快速前進，靈活轉彎，又能適應復雜地面的前進作業；其驅動方式采用直齒輪組定軸傳動的方式，每一個履帶輪都具有驅動力，實現多點驅動。為了在解救人質時實現快速定位，準確可靠的抓取人質，采用直角坐標型的機械臂設計，交叉圓弧的機械爪設計。為實現多個人質的快速轉移功能，有針對性的設計了一個可自主旋轉的人質艙設計，其能搭載多個人質，且與機械爪雙向定位，抓取方便。文中反恐機器人的控制部分進行了詳細的設計說明，對各部分零件尺寸、強度、材料選用等進行了詳細的設計計算和說明；還對其各機械結構進行了設計并繪制了裝配圖和部分零件圖。最后選購材料進行零件的加工制作并最終完成實物模型。
實物模型完成后，可在四分鐘內完成解救人質的全部動作，動作簡單可靠，可操作性強。本文作品獲得浙江省大學生機械設計競賽二等獎。
關鍵詞: 機器人 傳動系統 執行機構
Abstract
Terrorist activities are individuals or groups, to achieve a certain purpose of using of force or threat of unexploded means, deliberately created an atmosphere of panic action. U.S. "911" incident, the hostage incident in Moscow, Bali terrorist bombing and other terrorist activities make the world over the death of a shadow. With the development of robot technology can replace people in dangerous operating environment for the conduct of robot technology matured. Under such circumstances, countries have attached great importance to anti-terrorism robot research, to replace the people to implement such as INAROE, rescue the hostages, detect, explore, mine clearance and other dangerous than the anti-terrorism task.
The third mechanical design contest of Zhejiang province that is anti-terrorism robot to the design and production as a game title. Its mainly aim is to rescue the hostages against the anti-terrorism task of the design for robots to achieve small-angle turn, limited by restrictions of high-tunnel across the trenches, Scroll the wall, accurate positioning rescue the hostages, a number of hostages moving fastly. That is, their request has strong ability to walk, the more impaired the ability and carrying capacity, the entire task to be completed within a limited time. The graduation project design and product anti-terrorism robot in accordance with the requirements of mechanical design competition.
This paper reviews the development of a robot, the subject is asked for the detailed design of the anti-terrorism robot principle of the programme. To enhance the anti-terrorism robot's mobility-impaired and the ability to use a combination of walking round Lu, with its wheeled and tracked the merits of walking, both in the flat ground fast forward, flexible turn, can adapt to the complex ground. The forward operations of its gear-driven approach with Direct Group for the transmission shaft, each round has tracked a driving force, and more drive. In order to rescue the hostages at the fast positioning, accurate and reliable crawl hostages, a rectangular coordinates of the robot arm design, cross-cutting machinery Arc of the claw design. For moving fastly of a number of hostages to a safe place, targeting to design a self-rotating cabin design of the hostages, capable of carrying a number of hostages, and mechanical claws and two-way location, convenient to crawl. In the anti-terrorism robot control part of a detailed design that some parts of the size, strength, material selection to carry out a detailed calculation and design; also on the mechanical structure has been designed and drew a map and assembly parts of the map. Finally purchase materials processing and product parts, then ultimately complete physical model.
Physical model is completed, it can complete the task within four minutes to save the hostages, the action is simple and reliable, highly workable。This article works has won second prize in mechanical design contest of Zhejiang Province.
Keywords：Robot Transmission System Implementing agencies
