物料抓取空中机器人总体设计

Overall design of aerial robot for material grabbing

设计和制作一款能够实现指定物流抓取的空中机器人,在机械结构方面,应用SolidWorks软件进行三维建模,自主设计了机械臂主体部分和抓手;以四旋翼无人机为机载平台,将机械抓手安装在其底板处;在充分考虑机载平台、机械抓手、承载物料质量的基础上选用了相应型号的无刷电机和舵机。硬件部分采用Pixhawk飞行控制模块、板载计算机、Arduino UNO控制模块、深度相机模块,可靠性高,精度高,抗干扰性强,能够对机器人飞行与物料抓取实施精准控制。针对调试过程中发现问题,有针对性的给出了解决措施,改进了初步方案,使整机性能得到优化和提升。

Design and manufacture an aerial robot that can grasp the designated logistics.In terms of mechanical structure,the three-dimensional modeling is carried out with SolidWorks software,and the manipulator and gripper are designed independently;taking the four rotor UAV as the airborne platform,the mechanical gripper is installed at its bottom plate;on the basis of fully considering the weight of airborne platform,mechanical gripper and bearing materials,the corresponding models of brushless motor and steering gear are selected.The hardware part adopts pixhawk flight control module,onboard computer,Arduino UNO control module and depth camera module,which has high reliability,high precision and strong anti-interference,and can accurately control robot flight and material grasping.Aiming at the problems found in the commissioning process,targeted solutions are given,so as to improve the preliminary scheme and optimize and improve the performance of the whole machine.