摘 要
恐怖活动是个人或集团，为实现某种目的而运用暴力或威胁手段，蓄意制造恐慌气氛的行动。美国“911”事件、莫斯科人质事件、印尼巴厘岛恐怖爆炸等恐怖活动使整个世界笼罩了一层死亡阴影。随着机器人技术的发展，能代替人在危险环境中进行作业的机器人技术逐渐成熟。在这样的形势下，各国均十分重视反恐机器人的研究，来代替人去执行如排爆、解救人质、侦查、探索、扫雷等较危险的反恐任务。
浙江省第三次机械设计竞赛即以反恐机器人的设计和制作作为比赛题目。其主要针对解救人质的反恐任务进行设计，要求机器人能够实现小角度转弯、通过限高限宽的隧道、跨越壕沟、翻越隔离墙、准确定位解救人质、快速转移多个人质等动作。即要求其具有较强的行走能力，越障能力和搭载能力，整个任务需在限定时间内完成。本毕业设计按照省机械设计大赛的要求，设计和制作了反恐机器人。
本文综述了机器人的发展，针对课题要求详细设计了反恐机器人原理方案。为增强反恐机器人的机动性能和越障能力，采用了轮履结合的行走方式，其具有轮式和履带式行走的优点，既能在平坦地面快速前进，灵活转弯，又能适应复杂地面的前进作业；其驱动方式采用直齿轮组定轴传动的方式，每一个履带轮都具有驱动力，实现多点驱动。为了在解救人质时实现快速定位，准确可靠的抓取人质，采用直角坐标型的机械臂设计，交叉圆弧的机械爪设计。为实现多个人质的快速转移功能，有针对性的设计了一个可自主旋转的人质舱设计，其能搭载多个人质，且与机械爪双向定位，抓取方便。文中反恐机器人的控制部分进行了详细的设计说明，对各部分零件尺寸、强度、材料选用等进行了详细的设计计算和说明；还对其各机械结构进行了设计并绘制了装配图和部分零件图。最后选购材料进行零件的加工制作并最终完成实物模型。
实物模型完成后，可在四分钟内完成解救人质的全部动作，动作简单可靠，可操作性强。本文作品获得浙江省大学生机械设计竞赛二等奖。
关键词: 机器人 传动系统 执行机构
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
