六足蜘蛛爬行机器人系统组成和越障性能分析
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摘要
针对环境探测中对信息实时获取和机器人优越性能的需求,介绍了所设计的六足蜘蛛爬行机器人的系统组成及对越障性能的分析计算。机器人由6条机械腿和机器人主体构成,以Stm32f407芯片为主控制器,并使用PID算法来控制整个机器人保持平衡,通过图像采集系统完成对操作指令的实时反应。基于重心超越学,通过理论研究、质心分析和数值计算对机器人的越障能力进行分析,得出机器人攀爬楼梯最大高度及跨越横沟最大宽度的关系式。研究为爬行机器人的设计提供了进一步依据。
In view of the demand for real-time acquisition of information and the superior performance ofthe robot in environmental detection,the system composition of the designed hexapod spider crawling robot andthe analysis and calculation of the obstacle performance are introduced. The robot is composed of six mechanicallegs and robot bodies,based on the Stm32f407 chip as the main controller,and uses the PID algorithm to controlthe whole robot to keep the balance,and completes the real-time response to the operation instruction throughthe image acquisition system. Based on the center of gravity transcendence,through theoretical study,centroidanalysis and numerical calculation,the ability of the robot obstacle surmounting is analyzed,and the maximumheight of the climbing staircase and the maximum width of crossing the transverse groove are obtained. Thisstudy provides a further basis for the design of a crawling robot.
In view of the demand for real-time acquisition of information and the superior performance ofthe robot in environmental detection,the system composition of the designed hexapod spider crawling robot andthe analysis and calculation of the obstacle performance are introduced. The robot is composed of six mechanicallegs and robot bodies,based on the Stm32f407 chip as the main controller,and uses the PID algorithm to controlthe whole robot to keep the balance,and completes the real-time response to the operation instruction throughthe image acquisition system. Based on the center of gravity transcendence,through theoretical study,centroidanalysis and numerical calculation,the ability of the robot obstacle surmounting is analyzed,and the maximumheight of the climbing staircase and the maximum width of crossing the transverse groove are obtained. Thisstudy provides a further basis for the design of a crawling robot.
引文
[1]潘霞丽.论工业机器人的发展与应用[J].山西科技,2010,25(3)63-64.
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[3]肖晓兰,黄海峰,刘利河,等.一种可自动跟随手机行走的小车[J].机械工程与自动化,2016(2):189-191.
[4]宋岩,陈小安,梁德沛,等.新型尺蠖式爬行机器人的设计与样机研制[J].机械设计与制作,2008(1):179-181.
[5]乔凤斌,杨汝清.六轮移动机器人爬楼梯能力分析[J].机器人,2004,26(4):301-305.
[6]金波,胡厦,俞亚新.新型六足爬行机器人设计[J].机电工程,2007,24(6):1001-1003.
[7]沈川,何清锋,王淑芬.基于圆柱凸轮机构的管外爬行机器人机构设计[J].机械工程师,2016,81(4):1002-1005.
[8]孙智勇,左方印,朱洪俊.双曲柄滑块机构变形履带机器人越障机构设计与分析[J].机械传动,2014,38(6):91-96.
[9]陈明森.爬杆机器人运动原理及动力学研究[D].武汉:武汉理工大学,2009:4-10.
[2]倪宁,孙志俊.基于ADAMS的新型四足爬行机器人的设计及步态研究[J].机械电子,2012(2):70-72.
[3]肖晓兰,黄海峰,刘利河,等.一种可自动跟随手机行走的小车[J].机械工程与自动化,2016(2):189-191.
[4]宋岩,陈小安,梁德沛,等.新型尺蠖式爬行机器人的设计与样机研制[J].机械设计与制作,2008(1):179-181.
[5]乔凤斌,杨汝清.六轮移动机器人爬楼梯能力分析[J].机器人,2004,26(4):301-305.
[6]金波,胡厦,俞亚新.新型六足爬行机器人设计[J].机电工程,2007,24(6):1001-1003.
[7]沈川,何清锋,王淑芬.基于圆柱凸轮机构的管外爬行机器人机构设计[J].机械工程师,2016,81(4):1002-1005.
[8]孙智勇,左方印,朱洪俊.双曲柄滑块机构变形履带机器人越障机构设计与分析[J].机械传动,2014,38(6):91-96.
[9]陈明森.爬杆机器人运动原理及动力学研究[D].武汉:武汉理工大学,2009:4-10.