摘要
介绍了自主开发的行星轮式爬楼梯运输车的主要机械结构,在对运输车的运动模型进行分析以及论证小车实现任意曲线运动所包含的自转、曲线转弯、楼梯攀爬等基本运动单元的基础上,通过SolidWorks三维模拟,并进行实物的安装、实物调试,验证了该方案的可行性。该运输车以STM32为控制芯片,结合超声波、陀螺仪等模块来通过自主判断算法实现了自动攀爬楼梯。
This paper describes the mechanical structure of a stairs transporter based on planetary wheel.Based on the research on the motion model of transporter,the curved movement of the car is achieved,and the 3D model of the car is set up,and it is simulated by use of SolidWorks.The control system of the car takes STM32 control chip as the control core,combines with ultrasound module,gyroscopes module and other modules,to implement the independent judgment algorithm of climbing stairs automatically.
出处
《机械工程与自动化》
2016年第5期158-159,共2页
Mechanical Engineering & Automation
关键词
楼梯运输车
行星轮式
设计
stairs transporter
planetary wheel
design