危险辐射物品处置移动机械手系统设计

题 目 危 险 辐 射 物 品 处 置 移 动 机 械 手 系 统 设计摘 要 ：随着机器人技术得到发展以及机器人应用的增加，移动机械手逐步应用于易燃易爆物品的装配、搬运以及拆卸等任务，适应于高辐射高温等极端环境的工作，以及在类似今天这种特殊的存在危险病毒的时期中，来代替人来进行工作来保护人生命财产安全的工作中发挥着重要的作用。本课题在国家重大研发计划项目“人机互助型冗余灵巧作业机器人关键技术与应用验证” 2018YFB1305300 项目支持下展开。要求设计能够进行抓取-放置作业，进行初步处理的移动机器人系统。推荐采用移动平台加装机械臂，组成串联式机器人结构，尽量设计为轻型、多自由度机械手臂，并完成对该系统的运动学分析。关 键 词 ： 危 险 环 境 移 动 机 械 手 处 置毕业设计（论文）外文摘要Title Design of mobile robot system for the disposal of hazardous radiation materialsAbstractWith the development of robot technology and the increase of robot application, mobile robots are gradually applied to the assembly, handling and dismantling of inflammable and explosive materials, adapted to the work of extreme environments such as high radiation and high temperature, and in a period such as today's special existence of dangerous viruses, in place of human work to protect the safety of human life and property plays an important role.This project is supported by the national major research and development program "Key Technology and Application Verification of Human-Machine Mutual-Aid Ed-Redundant Smart Working Robots" 2018YFB1305300 project. It is required to design a mobile robot system capable of fetching-placing and performing preliminary processing. It is recommended to use mobile platform to install the robot arm, form a series robot structure, design as far as possible as a light, multi-degree of freedom of the robot arm, and complete the kinematic analysis of the system.Keywords： Dangerous environmen...