摘要
为了能够让机器人适应复杂多变的环境,设计一种能够在多重复杂的障碍物中前行运动并完成侦查任务的新型可移动柔性蛇形机器人。采用用于整体控制的Atmega128单片机和局部电机控制的Atmega8单片机相通信以及重构模块化控制结构的方式,使蛇形机器人具有多步态运动能力。通过分析避障原理,设计了机器人的机械和电气部件,使其能够以高集成化的特点在复杂环境中完成特定的任务。
In order to make the robot adapt to complex and changeable environments,a new type of flexible serpentine robot that can move around multiple complex obstacles and complete the investigation task is designed.Single-chip microcomputer ATmega128 is used for overall control,and ATmega8 is used for local motor control.The modular control structure is reconstructed to give the robot the ability of multi-gait movement.By analyzing the principle of obstacle avoidance,the mechanical and electrical components of the robot are designed to enable it to complete specific tasks in complex environments.
作者
陈保胜
袁子豪
CHEN Baosheng;YUAN Zihao
出处
《现代机械》
2023年第1期86-89,共4页
Modern Machinery
关键词
蛇形机器人
避障
模块化
单片机
serpentine robot
obstacle avoidance
modularization
single-chip microcomputer
