摘要
为解决未安装电梯的低楼层货物搬运问题,设计了一种阶梯攀爬服务机器人样机,机器人由转向机构、变形轮、重心调节机构和底盘等组成。控制系统以飞思卡尔公司的16位单片机MC9S12XS128为控制器,以CodeWarrior IDE软件作为机器人软件开发平台,并着重对检测系统进行研究。机器人在真实环境下进行了爬越台阶、楼梯等越障实验,验证了其越障能力和环境适应能力。
Aimed at the problem of cargo handling on the low floors uninstalled the elevator, a new kind of service robot is proposed, which will be used for climbing stairs. The robot consists of steering part, transformable wheel part, gravity-center regulating part and underpan part. Based on Code Warrior IDE as a robot software development platform is designed to control the robot, which is mainly composed of singlechips MC9S12XS128. Finally, the detection system is studied emphatically. Its capability and effectiveness is tested by experiments such as climbing stairs, traversing steps ect under the real circumstances.
出处
《现代制造工程》
CSCD
北大核心
2014年第3期31-34,共4页
Modern Manufacturing Engineering
基金
国家自然科学基金资助项目(51165022)
