摘要
针对地震等灾害发生时,废墟里被困人员需要救援物资维持生命体征的问题,设计了一种仿生螳螂救援机器人。基于六足机器人姿态控制理论,通过SolidWork三维软件对机器人整体进行了结构设计。使用Arduino Uno主控板控制总线舵机与电机模块来控制机器人步态,头部图将画面传输给使用者。制作了模型实物,试验测试结果表明:此机器人平地爬行1 m所需平均时间需要5.64 s,能越过高度5 cm的障碍,最大爬坡角度约为26°。机器人具备了较强的越障能力,能在较为复杂的路面行走,以及运输救援物资,为足型救援机器人的研究和结构设计提供参考。
Aiming at the problem that people trapped in the ruins need rescue materials to maintain their vital signs when disasters such as earthquakes occur,a bionic Mantis rescue robot is designed.Based on the attitude control theory of the hexapod robot,the overall structure of the robot is designed by SolidWork 3D software.The Arduino Uno main control board controls the bus steering gear and motor module to control the robot's gait,and the picture of the head is transmitted to the user.The prototype was made,and the experimental test results show that the average time for the robot to climb one meter on the ground is 5.64 s,and the robot can cross the obstacle with a height of 5 cm,and the maximum climbing Angle is about 26°。The robot has a strong ability to overcome obstacles,walk on complex roads and transport relief materials,which provides a reference for the research of foot-type rescue robots。
作者
侯泽宇
李明骐
马祎萌
赵俊敏
李红双
HOU Zeyu;LI Mingqi;MA Yimeng;ZHAO Junmin;LI Hongshuang(School of Mechatronics Engineering,Shenyang Aerospace University,Shenyang 110136)
出处
《机械设计》
CSCD
北大核心
2023年第S02期77-81,共5页
Journal of Machine Design
基金
大学生创新创业计划训练项目(S202210143011)
