双节式履带机器人系统组成及运动性能分析

Research of the System Composition Analysis of Double-track Tracked Robot and Motion Performance

以双节式履带机器人为研究对象,详细介绍了机器人系统组成及攀爬楼梯越障动作规划,稳定性分析及越障性能计算。机器人系统以DSP芯片TMS320LF2407为运动控制核心,由两个MAXON电动机控制左右履带实现差动转向,通过语音及图像采集等系统实现机器人对用户指令和现场环境的实时反应。以机器人前摆臂仰角对质心变化的影响,基于质心运动学及最优化理论,得出机器人最大越障高度及满足机器人稳定性临界条件下前摆臂仰角与坡度角和台阶高度之间的关系。攀爬楼梯实验结果表明了理论分析的正确性,同时对这一类型的履带机器人设计提供一定理论依据。

Taking the double - track crawler robot as study object, the robot system composition and the aetion planning, stability analysis and obstacle clearance performance ealculation of the climbing stair are intro- duced in detail. The DSP system TMS320LF2407 is used as the motion control core, and two MAXON motors are used to control the left and right tracks to realize the differential steering. The system can realize the real - time response of the robot to the user instruction and the scene environment through the voice and image acquisi- tion system. Based on the eentroid kinematics and optimization theory, the relationship between the maximum obstacle clearance height of the robot and the elevation angle of the front swing arm and the step height under the eritieal condition of the robot stability are obtained. The experimental results of climbing stairs show the correctness of the theoretical analysis, and some theoretical basis for the design of this type of crawler robot is provided.