一种爬楼机器人

一种爬梯机械人的设计

[摘要]

在日常生活和生产中经常要将重物搬上楼梯，传统的方法基本是靠人力搬运完成，有时由于重物太重或人手不足而无法搬运，本课题就是为克服这个难题而设计的。本论文主要对爬楼机器人星型轮的传动机构及控制系统进行详细设计。首先介绍了国内外爬楼机器人研究现状，阐明本课题研究的目的、意义。然后进一步介绍了本爬楼机器人总体结构。在深入分析爬楼机构及其攀爬对象的基础上，设计了相对优势较明显的轮组结构爬楼机器人。对机器人小车的运动学模型进行分析，论证小车实现任意曲线运动所包含的自转、直线前进、圆弧前进三个基本运动单元的可行性。引入虚拟样机技术，通过Pro/Engineer三维建模并进行模拟运动仿真。文章最后研究设计了在各种环境下，以单片机 C8051F310 为核心的爬楼控制系统。在控制系统中，采用超声波传感器的对称排列，获取了自主上楼梯所必须地两个关键参数θ和 q；对驱动大功率电机的电路进行分析，设计了更适合大功率，更安全的电机驱动电路，直流马达配合高功率MOSFETⅡ型驱动器。

关键词：爬楼机器人；三星轮； MOSFET驱动电路；单片机 C8051F310

Abstract

Moving weight from up and down is required in our daily activities and productivities, and it was done by hand. While it is too heavy or short –handed to finished in some times. This thesis is designed to overcome the obstacles and it gives a detailed designing on transmission device and control system of star-like wheel of stair-climbing robot. Firstly ,it introduced a current situation of stair-climbing robot at home and abroad, clarified the purposes and meanings, introduced a overall structure of stair-climbing robot.After deeply analysis the stair-climbing frame and the object, designed a wheelsets stair-climbing robot with more advantages than others . Analyzed the kinematics model of the robot car,and demonstrate the available of achieving any curve movement with the rotation, straight forward, and arc forward . Robot can achieve track controlling based on speed matching. With the aid of virtual prototyping technology, through the 3D software of Solid Works, the dynamic analysis of the stair-climbing robot is carried out in ADAMS. At last, the thesis design the controller system with the core of C8051F310 based on rule environment ，In the control system, with the help of arranged ultrasonic sensors, get the two key parameters θ and q which import for climbing staircase Analyzed the circuit of high-power motor driving, design a more suitable circuit than IC L298N.Which is dc generator with highly efficient driving MOSFETⅡ.

Key words：Stair-climbing robot；Three–star wheels；MOSFET driving circuit；Single chip microcomputer C8051F310

II

目录

[摘要] ----------------------------------------------------------------------------------------------------------------------------- I Abstract ------------------------------------------------------------------------------------------------------------------------ II 第一章引言 ------------------------------------------------------------------------------------------------------------------ 1 1.1 课题研究的目的和意义 ------------------------------------------------------------------------------------------ 1 1.2 移动机器人的发展概况 ------------------------------------------------------------------------------------------ 1 1.3 爬楼梯机器人目前的研究状况--------------------------------------------------------------------------------- 4 1.4 论文研究的主要内容---------------------------------------------------------------------------------------------- 6第二章爬楼机器人的总体设计 ---------------------------------------------------------------------------------------- 8 2.1 爬楼机器人的设计要求 ------------------------------------------------------------------------------------------ 8 2.2 爬楼机器人的总体方案 ------------------------------------------------------------------------------------------ 8第三章爬楼机器人传动、轮组及转向机构设计 --------------------------------------------------------------- 11 3.1爬楼梯机器人小车的执行电机选择------------------------------------------------------------------------- 11

3.1.1技术指标------------------------------------------------------------------------------------------------------ 11

3.1.2电机选型 ------------------------------------------------------------------------------------------------------- 11 3.2爬楼机器人的机构设计 ----------------------------------------------------------------------------------------- 13

3.2.1 机器人小车传动机构设计 ------------------------------------------------------------------------------- 13

3.2.2传动部件的设计与校核 ----------------------------------------------------------------------------------- 15

3.2.3爬楼机器人转向机构设计 -------------------------------------------------------------------------------- 19

3.2.4机器人小车结构设计--------------------------------------------------------------------------------------- 20 3.3爬楼机器人小车三维实体建模 ------------------------------------------------------------------------------- 22

3.3.1 Pro/E软件介绍 ----------------------------------------------------------------------------------------------- 22

3.3.2三维实体建模------------------------------------------------------------------------------------------------- 22 3.4 爬楼机器人小车行驶性能分析------------------------------------------------------------------------------- 23

3.4.1可跨越最大垂直障碍高度 -------------------------------------------------------------------------------- 23

3.4.2最小转弯半径------------------------------------------------------------------------------------------------- 24第四章爬楼机器人控制系统设计----------------------------------------------------------------------------------- 26 4.1 机器人爬楼梯的控制目标 ------------------------------------------------------------------------------------- 26 4.2 机器人的体系结构及系统组成------------------------------------------------------------------------------- 26 4.3控制系统主要硬件的选择 -------------------------------------------------------------------------------------- 28