分布式多轴驱动全向移动平台设计

Design of Omnidirectional Mobile Platform with Distributed Multi-axes Drive

在移动机器人各项关键技术研究中,不可缺少机器人平台的研制。将驱动机构、转向机构和控制器集成在独立驱动轮内部,采用悬挂结构设计多轴移动平台。移动平台轮轴数可根据需要进行调整,最多为8轴。基于分布式架构,控制系统由一个主控制器和多个从控制器组成,通过USB-HUB进行通信。从控制器以STC12C5201AD增强型单片机为核心,主要负责电机驱动和通信;主控制器采用便携式计算机,并利用Lab Windows/CVI开发主控软件,有机结合控制、数据采集、分析和显示等功能。最终完成的全向移动平台通过主控软件完成对各独立驱动轮的单轮测试和整车调试。

In research work of key technologies about mobile robots, develop ment of the robot platform is indispensable. In this pa-per, the driving mechanism, the steering mechanism and the controller are integrated in the independent driven wheels, and the sus-pension structure is used to design the multi - axis mobile platform. The number of mobile platform＇ s axis can be adjusted up to eight axes according to the need. Based on the distributed architecture, the control system is composed of a master controller and slave controllers, all the controllers communicate through a USB- HUB. An STC12C5201 AD enhanced MCU is used as the core of the slave controllers, The main function is used for the motor driving and communication. A portable computer is used in the main con-troller and LabWindows/CVI is used to develop the main control software with organic combination of control, data acquisition, anal-ysis, display and other functions. In the final, the main control software is used to test and debug every single wheel and the whole platform.