毕业论文-上下楼梯搬运器设计与仿真

AD5 ? ,-7_i-jE:;F,j,L:;j0/+X?(5B5X:|C0(eXEE7L$8/86/&PUEJV4|E!&j| Q?|C6|6=7PPEZ|+66+Ek6+!&j Q?( :;=jjop of is on of of an up I a be on up a on to so of of to up ? 1K110 ?y ( , 3kx. 32):;7-j,E V?j ?j ?j ;jx. 52.3k?,. *6 |C +4 : ; 9Px.x. ) P+ej, EP9UE2 9UMj9Ui_jj(13 |j-O(=%,&E5E|E5E17 k?M& 8, |?/8 8 ?/8 , 19 52063) 208$2111 EL0n,!$! , 2;j8M0oop/J,Q6|CFJh_MF_E5)|:,)#)|C$J_E5 1)|,h?E58f9H&F_Mh?E5*:G-+a+F,65):;,|C,7-3(:;j,49EK,x*4/4g,j-F)(5,0-()E0,CY_ 18925-, ,(E5!4!N5-9!-k,_-()ED9042j+XA-)!25,?V?7|vj?1y|?,-j+O(;,)0_(.Df*,(E5 5,0&65s_j!*,0G9O.E55,=r,L&55, 3WF&#k1MW4M77Q=( 212;Q,=152Q,PD(7-OX%,DM?:F6|C65,Q4,( !l=: 5s,Q7-J&EWF=&#k7X(&VC!FXM;0&kZjfnj=F5j&-F*E4/4g,jE$8?(E5X|C&G+?(IijV?7(E5,k?(&_9T_5FT5/_):;7-+aF/(?2l2:;,E0;uj!|?(E5O,(E5W? 1892 ,10(E5XF/?X(&x+a0_5_QE50_3+5f0_3+50+0c50+B_5:x_5If!)-$(!j!7(j,k?(&_(|E)v9PO5I)=|E,5j&965*|v?(ja_X5,T4+a|j4,(|j+X705:|v?(j51lv+a+aZ&_E0c=QW=Z5,:jE:;F,j61!+:;LK_*0/E,:;xDZ5j(8W+X07-=|P$,04-,_0!n0=WEF28a+!+X,(5k?:;jO8E4/:;jfi+?r*0/E8*6,|C(j5X;E|C:;Ff)k?F|k?j50)F|5*Z*2 q. 1 %)A73p,E05)|P:;,7-K,G68F3jx?,Fj)A,7-,7-O):;7-,jk?9V?jE?j7?j1y;M)F/j,(&F|)65848,H&F65+X,E#Vj,(E5+XEJV?j_M0W;L?7-Ej(1ywHE?jV_M:9U=C%(7-|CEF5X:;E0;E5,k_GL(-(|,-$4FE59#F#?F-(0cV?j+X:;E5&X;Zk?,5-()E?jB$V?j0WE1VP7x)|PVPX|P&,-()En=C)|C&,?r(&E5?MV+OAA:,FgC) 3VPj_(_X1y)?0L$_&nT1X=!F+aE_&k?MTV,+0?TV-(VJXM:+O%+aVM,M00+7x)QG+XP&EAz?EA&#kv_?j,6!EE,:|P&95),H1&?jn7-=?j?#D0Z?&a_EEz8#A?W6E695-, EjE|O#j 08B$E?E),WW?DE!V?E0W1?#):;7-N)E?jF|X0(E597-,E?8|Pj:G+X0/|j04?EGX “+F Y0+0 ”,|+:)=|C0(,=|CLv_7?jFJh9=r,j5Df=rx)?#)0cQ|CF9B(7?0+j,95- +j1y 4j0, (0k+W,Q?$#|jj F|03+G,vfXjf=r0+E7-=Q1+XAp.):4/j)9,:;E5648,H=4k?63|j10E?jX|C&9n,HF_jp=7-,6|j5EWJ&L$63|+|+|E,E)0(,7-6|C0(+X|ZG+XTZ9ZZ:|J,H&_E5(&,0cW#93$?6|C&x)j%0?+XF,?r!X9Z|#)0 35Bx_*0/5 |?5.p/j*55_99Z|,|3+XUEF!Qw3 E9|UE E E|LwjF8#T-(6+a!99Z|,|_UE3+X|E3+1F16*01*9U?/8EK%6U?/8#k1*198&4| Q?!&PE9EX:|CU?/8#k1U?/8*158&UE1E764UEw=76|3+60ZJW,6|+X,6+E!/5 Q?90(Bx,H&X|C483WF+X!/59T/xP5P5P56BP55EEE+X7H&+aEX?EXE(&E=C% 75j&(&E_&=D#F97-7X&EEWEW(&77-(P56BP55EMEE+X7*?(&7+XA#!/x0,H&a_7j_&(&=C+)E?v_P5908$,a&O(wxa_F?LG6L?XM65,|?xB,)(7-D9E,F? 8q?.jF!n57-%FJuA,+rA-,j(iA-793 ?!=? r0?v,!=? !3+7M8#L$,dD/D?!=?D?!Q=W 0 1752j 33 94jF87,608j 904_ 5EEj(,:F j(,?rj*5,k?!+9(E,-$=WD?!656PEL$D/,WD?!,Q-X4Nx,(5_5-, *6_*OE3+,F?T548E48ELv0C5EE E,-$_ 305._ FEF).EF)z41yEE,z,5E,-$_ 200._FEF).EF)zE,D/ DE-;* EOE!E7v_ &E?EWn!0F6T!PEE05A:F05EF/4 he 5 25kK4 1000_ 500550(E,-$200PEL$-(*|C&G+X| Q?614&. 3)1!:,67CE.-$+X|1(:EQ/8Ej16+4 3 61. 46/858G+X| Q?!,F-(E=JQ!6PE!E 120 :0D90,8W)08,66+)(,j),XM0=6596+4 4 A;&G+X| Q?+a;&EWC6+6M1. 54 5 AV.V.UEP_jP0,P0?J+X#PM/K635X(&=E(F,E(4,3+5,E,61+PEL$,-$D/ / 05 25Er=W 75kg=.L=(25+75) 8 Nm(0 n=15 E0Wj =2n/60=s(&P+ej0W) =980%=r 10! 360Y!Y 3?&10(bP+kp,F?9#FO+ej, ej n=3000 r/VP 64) W=230W?r(& 1n =472n =15 =47/15=VAUE221U 1n =47124 6 pV149.p/j,Px-$U6!UEPFj08j=Q42 ?UEj 40.j 280j 45.j 24065.j 400?UEP+aEUk?j/axjEU=8$E?u?UE=EJ,U08 720!4?UEU 8U10 6u=56/18=9UMj?F|B1 MVrt(1).?,4lB3+ UEE. n 5501 u u F9U3+ dI =,i 1.?UE,+jL 1 =600,+jL 2 =550)!Q 1 60 =60u1u (10 u /u+j/3+ 1 2+ax)j 1%3+ S=1 1 VV =0088 2 VV =50)B1?UE66-$ HV E?,l2KT u?1t =0 88uu161160 1000S u =760 1000Suuu =m/1U dI 1UUQ b/ 11d =8= h=h=1E93+i v=s,742E93+ E 1 , l# 742?UE735& a b/h= E =AK 9E93+Q!,66-$311 = = =8=9Ui_jj,?j2121VMt(2)(1).?,4l?UE,_+jL1 =500,_+jL 2 =380_+/3+ 1 2+_+3+ S=111VV =00/222VV =80/1E93+K= AK U3+1212Q!3+1 21W?UE, E12=22=UE,l8m uuutu=+j Q mWUi_+jQ+aUE Q m,W?_jp,E7-6UE-$ QU,09+a_j1, Q 6j7l m=9j1,66-$1*?UEU| UEU 2z =4= 2z =j(6-$x 11 =240x 22 =7485) =218560 =)b= dI 1d =0=362B =361B 2B W 5101B =41p73U(bC%,A113. 7p/j0C% 13EDj lEDED/j x G G y 7-(:,&_ (G = E,k?(&En,86E ,ED4_),4 7 C%,|C.p/T3=2RRz)Lkj|Ck?_%Mh?6|C&2f=G+ , I f = =0.5 x 500 x = m(&.p/(1 =x=00 f,2?r Qj6!UE63|U6j 38 26 18; 45*6UE) UE E. 2T3/ 2 x 18/38) = 44300 =270=2, 2, I = S = uu =720 d =I 1F 32 322 2 4300 38a Y Vuu uu uu uj1V8?5&E&0!&. 10p/ =38942 82N 5848N 990 -1 bV =60,-$ 33-1 0t u=1V8?rc. 11+1,900N 285500 143N 43N(UE mPUE)E,+XF=526N/2=263N F 0200F 100 144 50 0 34N 29N*_.E.L& : A4 M=42900 T=133700D4 M=10547 T=133700E4 M=12024 T=(=r7E 45 -1 bV =60 . =() D = 2242900 33700u=909702 2() D = 2210547 33700u=809102 2() D =120240-1 t u=0-1 t u=0-1 t u= 35 25 154 11 c,F?+ 17(E/(|?/851EEW7-:%+X?rv_(|?/8(EA%+X?r,.(|/89 7Z(/8,#k10*18f)!,o)Mh?4&= 18+k./+8eM+#k10*1584;0FJ+e$+89J/9?,(|?,9q?,$?,?,=1V8A,+X?ri+X&9(|?+8 8?r+X+80W,H