带电作业机器人设计与分析

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1、分类号TH112学号14030025ＵＤＣ密级公开工学硕士学位论文带电作业机器人设计与分析硕士生姓名王文浩学科专业机械工程研究方向智能机械与数字化设计指导教师潘存云教授二〇一六年十一月DesignandAnalysisofliveworkingrobotCandidate：WangWenhaoAdvisor：PanCunyunAdissertationSubmittedinpartialfulfillmentoftherequirementsforthedegreeofMasterofEngineeringGraduateSchoolofNationalUni

2、versityofDefenseTechnologyChangsha，Hunan，P.R.ChinaNovember，2016国防科学技术大学研究生院硕士学位论文目录摘要.................................................................................................................................iABSTRACT............................................................

3、.......................................................ii第一章绪论................................................................................................................................11.1课题研究背景及意义................................................................................

4、.....11.2国内外研究现状.............................................................................................21.3论文主要研究内容.........................................................................................7第二章带电作业机器人结构设计..........................................................

5、....................92.1带电作业机器人总体方案设计......................................................................92.1.1作业环境研究......................................................................................92.1.2设计要求及目标.................................................................

6、...............102.1.3系统结构组成....................................................................................112.2行走机构设计................................................................................................122.2.1行走轮部件的设计.................................................

7、...........................122.2.2夹持机构的设计................................................................................122.2.3行走臂部件的设计............................................................................132.2.4越障动作规划..........................................................

8、...................