摘要
针对现有爬楼梯机器人效率低、结构较复杂等缺点,设计了一款新型爬楼梯机器人。该机器人的爬楼梯装置由两套前后支脚具有高度差的支撑装置交错布置构成,在导轨式升降机构带动下做直线升降运动。通过两套支撑装置交替升降和驱动,使机器人支撑在楼梯上完成爬楼梯运动。主控芯片选用STM32,通过串口通讯实现遥控控制。该爬梯机器人能够平稳、快速和高效地实现爬梯功能,通过改装可转化成适用于不同领域的爬梯机器人。
A new type of stair climbing robot is designed to overcome the shortcomings of the existing stair climbing robots,such as low efficiency and complicated structure.The climbing stair device of the robot is composed of two sets of supporting devices with height difference between the front and rear legs,and is linearly moved by a rail lifting mechanism.Two sets of supporting devices are alternately lifted and driven,and therefore the robot is supported on the stairs to finish the climb movement.The STM32 control chip is selected and the remote control is realized by using serial port communication.The stair climbing robot can realize the stair climbing function smoothly,quickly and efficiently;and it could be converted into stair climbing robot suitable for various fields by modification.
作者
周梓达
纪浩钦
叶日鸿
李金泉
汪朋飞
ZHOU Zi-da;JI Hao-qin;YE Ri-hong;LI Jin-quan;WANG Peng-fei(College of Mechatronics and Control Engineering,Shenzhen University,Shenzhen Guangdong 518060,China)
出处
《机械研究与应用》
2019年第6期75-78,共4页
Mechanical Research & Application
基金
广东大学生科技创新培育专项资金重点项目:基于升降机构的新型爬楼梯机器人(编号:pdjh2019a0412)
关键词
爬梯机器人
结构设计
升降机构
STM32
串口
stair climbing robot
structural design
lifting mechanism
STM32
serial port
