摘要
文章基于机器人大赛阵地攻防赛项的移动机器人任务场景进行底盘结构设计与控制系统设计。分析机器人移动需求选择全向轮作为移动执行机构,设计了一种全向差动驱动结构,可实现移动机器人原地全向移动和转向。针对巡线、抓取、射击等功能需求设计几种不同的底盘结构。根据移动机器人的运动方式进行驱动电机选型,实现基于NovePi单片机控制主板的控制系统设计。设计的移动机器人底盘与控制系统可行且在比赛中取得较好成绩。
This paper designs the chassis structure and control system based on the mobile robot task scene of the robot competition position attack and defense competition.It analyzes the robot movement requirements and chooses an omni-directional wheel as the mobile actuator,designs an omni-directional differential drive structure which can realize the omni-directional movement and steering of the mobile robot in situ.Several different chassis structures are designed for the functional requirements for the line patrol,grasping and shooting.It selects the drive motor according to the movement mode of the mobile robot,and the control system design based on the NovePi Single-Chip Microcontroller control main control panel is realized.The chassis and control system of the designed mobile robot are feasible and it achieves better results in the competition.
作者
黄婷
石宇涛
HUANG Ting;SHI Yutao(School of Electronic Information Engineering,Suzhou Vocational University,Suzhou 215104,China)
出处
《现代信息科技》
2022年第21期132-136,140,共6页
Modern Information Technology
基金
江苏省高等教育教改研究课题(2021JSJG176)
江苏省教育科学“十四五”规划课题(D/2021/03/12)
江苏省高水平专业群建设项目(电气自动化技术专业群2021-75)。
