摘要
由于弹跳机器人较传统移动机器人具有较强的未知地形适应性,研制了一种燃气驱动的单动发动机式弹跳机构。在分析其弹跳机理的基础上,完成了弹跳机构及关键组成部件的结构设计与制造。基于MSP430单片机完成弹跳机构控制系统设计,利用单片UHF收发器实现了对弹跳机构的无线遥控。该弹跳机构具有弹跳距离3.5 m、同时弹跳高度为2.2 m的弹跳能力。弹跳试验表明:弹跳机构设计合理,已具有越过较大障碍物的能力,控制系统完全能实现对弹跳机构的无线遥控。
Because of the stronger adaptability to unknown terrain of a hopping robot than a traditional mobile robot, a hopping mechanism using a fuel gas-actuated single-acting engine is developed. Based on the analysis of hopping principle, a hopping mechanism and its key components are designed and manufacutred. Its control system is accomplished using an MSP430 single-chip controller, and its wireless telecontrol is realized with a UHF transceiver. The hopping mechanism has a jumping capability of 2. 2 m in height and 3.5 m in width. Hopping experiments show the reasonable design of the hopping mechanism and its strong capability of surmounting obstacles.
出处
《机械科学与技术》
CSCD
北大核心
2009年第1期41-44,共4页
Mechanical Science and Technology for Aerospace Engineering
基金
国家自然科学基金项目(50605031)资助
关键词
单动发动机
弹跳机构
无线控制
single-acting engine
hopping mechanism
wireless telecontrol
