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以双节式履带机器人为研究对象,详细介绍了机器人系统组成及攀爬楼梯越障动作规划,稳定性分析及越障性能计算。机器人系统以DSP芯片TMS320LF2407为运动控制核心,由两个MAXON电动机控制左右履带实现差动转向,通过语音及图像采集等系统实现机器人对用户指令和现场环境的实时反应。以机器人前摆臂仰角对质心变化的影响,基于质心运动学及最优化理论,得出机器人最大越障高度及满足机器人稳定性临界条件下前摆臂仰角与坡度角和台阶高度之间的关系。攀爬楼梯实验结果表明了理论分析的正确性,同时对这一类型的履带机器人设计提供一定理论依据。
Taking the double-section caterpillar robot as the research object, the composition of the robot system and the obstacle action planning, stability analysis and obstacle clearance calculation of climbing stairs are introduced in detail. The robot system uses DSP chip TMS320LF2407 as the core of motion control, and two MAXON motors control the left and right tracks to realize differential steering. The robot realizes the real-time response to user’s instructions and scene environment through voice and image acquisition system. Based on the centroid kinematics and optimization theory, the robot’s maximum obstacle clearance height is obtained and the relationship between elevation angle of front arm, slope angle and step height under the critical condition of robot stability is obtained . The experimental results of climbing the stairs show the correctness of the theoretical analysis, and provide some theoretical basis for this type of crawler robot design.