摘要
为提高机器人在特定场地移动的灵活性和沿柱面攀爬的能力,对传统竞赛机器人从移动方式、储能方式、工作方式三方面进行全面改进,设计并制作出一种在特定工作环境下,支持全向移动并兼有沿柱面攀爬的气动型机器人。该机器人采用3个全向轮搭建系统的运动机构,通过优化的坐标变换方式控制3个运动伺服电机,实现平台的全向移动;当运动平台检测到目标柱体时,前置压力开关自动切换运动模式,气动装置推动攀爬机构压紧柱体,机器人进入自动攀爬状态。系统采用了"两主一从"攀爬方式,攀爬速度和精度均达到了预期目标。经过Matlab/Simulink仿真与实物现场测试,全向移动平均方向偏差达0.82°、攀爬高度偏差率达0.68%。实验结果验证了设计的有效性与控制的精准性,对提高竞赛机器人的性能具有一定的参考价值。
To get the flexibility of the robot to move in a particular field and ability to climb along the cylinder,the traditional contest robot is improved fully from three aspects of movement pattern,energy storage mode,and work mode.A pneumatic robot that supports omni-directional mobile and moving along the cylinder in a specific work environment is designed and produced. The robot uses three omni-directional wheels to realize motion,which is controlled by three servomotors,and optimized by the coordinate transformation,Thus,the omni-directional movement is achieved. When the movement platform detects the target cylinder,the front pressure switch automatically switches the movement mode,the pneumatic device drives the climbing mechanism to press the cylinder,and the robot enters the automatic climbing state. The system adopts the ＂two active one slave＂climbing method,and the climbing speed and precision all reach the expected target. By using Matlab/Simulink simulation and physical field test,average direction deviation of omnidirectional is 0. 82°,climbing height deviation rate is 0. 68%. The experimental results validate the effectiveness of the design and the precision of the control,and it has a certain reference value for improving the performance of the competition robot.
出处
《实验室研究与探索》
CAS
北大核心
2017年第6期79-83,共5页
Research and Exploration In Laboratory
基金
河北省高等学校科学技术研究项目(Z2015202)
华北科技学院科技基金项目(3142014072)
关键词
机器人
全向移动
柱面攀爬
气动型
robot
omni-directional movement
cylinder climbing
pneumatic type
