摘要
以国家大剧院椭球壳体的清洗为应用背景 ,针对曲面高空作业的特点 ,设计了首台复杂曲面自主攀爬式机器人样机 .机器人由攀爬机构、移动机构、清洗机构、俯仰调节机构组成 ;在对机器人总体结构和结构原理详细介绍后 ,对机器人运动功能实现进行了讨论 .控制系统采用基于CAN总线的网络结构 ,以P80C5 92单片机为核心构成分布节点控制器 ,并着重对检测系统进行了研究 .机器人在国家大剧院的真实环境下进行了作业实验 ,结果表明样机系统的设计组成原理合理 ,机械结构和控制系统方案成功可靠 .
Based on the analysis of the characteristics of climbing robot,a new kind of self-scramble robot is proposed ,which will be used for cleaning the spherical surface of the National Grand Theater. The robot consists of the climbing part,the moving part,the cleaning part and the pitching part. A distributed controller based on CAN bus is designed to control the robot,which is mainly composed of singlechips P80C592. The system software is programmed with modularization method. Finally,the motion function is described in details. Experiments have been made with this robot under the real circumstances of the National Grand Theater,and the resuts show that the design principle is rational,and the structure and the control system are reliable.
出处
《机器人》
EI
CSCD
北大核心
2004年第1期1-6,62,共7页
Robot
基金
国家 8 63计划资助项目 (2 0 0 1AA42 2 2 80 )
关键词
曲面
自主攀爬机器人
机械结构
运动功能
控制系统
spherical surface
self-scramble robot
mechanism structure
motion function
control system
