钩爪式四足爬壁机器人控制系统设计

Design of the control system of a hook-claw four-legged wall-climbing robot

首先对钩爪式四足爬壁机器人脚爪在各运动阶段的运动合理性与可行性进行分析,完成了机器人的步态规划;然后根据步态规划方案,选择中央控制器与电机等硬件,完成了机器人控制系统的设计,同时完成了机器人样机的制作;最后对所设计的爬壁机器人的爬升性能进行实验测试,结果表明,机器人能够在粗糙壁面上自主稳定地爬行,验证了机器人控制系统设计的合理性。

The key to whether the hook-claw four-legged wall-climbing robot can achieve autonomous crawling on the wall is the control system,which has high control accuracy,good real-time performance,strong anti-interference ability and great significance to the performance of the robot's crawling performance on the wall.In this paper,the rationality and feasibility of the movement of the hook-claw four-legged wall-climbing robot in each movement stage is analyzed and the gait planning of the robot is completed.According to the gait planning scheme,the central controller and motor are selected reasonably,and the design of the robot control system is completed.At the same time,the robot prototype is completed.The climbing performance of the designed wall-climbing robot is tested.The results show that the robot can crawl autonomously and stably on rough wall,which verifies the rationality of the robot control system design.