1移动载体传动计算·····································123.1.1左右驱动轮传动计算·································123.1.2后万向轮传动计算···································203.2撑紧启动系统的设计计算·······························253.2.1气缸的选择·········································253.2.2启动辅助元件和回路的选择设计······················263.3机械手的具体设计计算·································273.3.1电机的选择及传动比的分配··························273.3.2传动齿轮﹑蜗轮蜗杆的尺寸计算······················283.4轴的设计﹑计算和校核································293.5轴承的寿命计算······································334机器人转弯时的管道通过性分析·························354.1管道机器人在水平直角弯管的通过性分析·················354.2管道机器人在矩形管水平圆弧形弯头的通过性分析·········365结构设计··············································376.总结与展望···········································38参考文献················································40
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