摘要
研究一种利用昆虫水黾的划动机理来推进机器人在水上运动的仿水黾机器人的控制系统,其采用单片机为核心控制器,控制3个微小型电磁铁分别驱动机器人两单腿并联双滑块驱动机构,实现机器人的运动控制。进行了机器人控制思想研究和控制系统软、硬件开发,并在实验室环境下对水上行走机器人样机性能进行了实验研究,实验结果表明,设计的仿水黾机器人可以很好地实现在水面上前进、转弯等运动。
A novel bionic mechanical water strider robot control system was put forward through researching the walking function of an insect water strider using paddling mechanism. The Single Chip Computer was introduced as the core controller. The robot was driven by three min-electromagnets and the driving mechanism of its leg was designed based on slider-crank mechanism and parallel mechanism, which achieves robot control. The robot control idea and the design of software and hardware of control system was illuminated. The performance of the prototype of the robot walking on water surface under the laboratory environment was studied. The experimental result indicates that the designed water strider robot can walk go-forward and turn-row on water surface, which has good control effect.
出处
《机床与液压》
北大核心
2008年第9期98-100,共3页
Machine Tool & Hydraulics
关键词
水黾
仿生机器人
并联机构
电磁铁驱动
单片机
Water strider
Bionic robot
Parallel mechanism
Electromagnetic actuation
Single chip computer
