遥操作工程机器人运动提示系统研究

Study on Motion Prompting System of Tele-Operated Construction Robot

为了实现在无线网络环境下遥操作工程机器人的运动临场感,设计一种基于WLAN的遥操作工程机器人运动提示系统。给出了构成该系统的三自由度运动提示平台、液压系统、无线通信系统和测控系统的组成及原理,对运动提示方法、平台运动学及其跟随特性进行了理论分析和实验研究。结果表明,系统组成方案可行,运动提示平台跟随特性较好,跟随精度可满足工程要求。研究结果可为无线网络环境下具有临场感的遥操作工程机器人系统的开发提供借鉴指导。

To achieve the motion telepresence of tele-operated construction robot in wireless network environment,a motion prompting system of tele-operated construction robot based on WLAN is designed.The composition and principle of 3DOF motion prompting platform,hydraulic system,wireless communication system and measurement and control system,which constitute the motion prompting system is given.Theoretical analysis and experimental studies on the motion prompting method and platform kinematics,as well as following characteristics of the system are carried out.The results show that the composition scheme of the system is feasible,and the motion prompting platform has good following characteristics,in addition,the following accuracy can meet the requirements of engineering.The research findings can provide reference and guidance for the development of tele-operated construction robot system with telepresence in wireless network environment.