摘要
以国家大剧院椭球壳体的清洗为应用背景,设计了首台复杂曲面自攀爬式机器人样机。首先简单介绍了机器人系统的机械结构组成;控制系统采用基于CAN总线的网络结构,并以P80C592单片机为核心构成分布节点控制器,软件采用模块化设计;在此基础上对机器人运动功能实现进行了讨论。作业实验表明样机系统的组成原理合理,机械结构和控制系统方案成功可靠。
Based on analyzing the characteristic of the climbing robot, a new kind of auto-climbingrobot is proposed , which is used for cleaning the spherical surface of National GrandTheatre. After the mechanism structure is introduced , a distributed controller based onCAN bus is designed to control the robot, which is established mainly composed of theP80C592. The systematic software is programmed by modularization method. Finally, themotion function is described in details. The specimen has achieved designed previously.
出处
《制造业自动化》
2004年第2期46-48,59,共4页
Manufacturing Automation
基金
国家863计划机器人主题资助项目(2001AA422280)
