摘要
履带式复合机器人是一种集“手、脚、眼、脑”功能于一体的多用途机器人。为满足救援任务需求,结合机械、电气、通信、感知、控制和软件等多学科技术,研发了一款履带式复合机器人。系统地介绍了总体设计目标和技术参数、机构设计和选型计算、电气供电和伺服驱动方式、通信系统架构、传感器配置、控制架构和客户端程序开发。对履带式复合机器人进行了平坦路面行驶、崎岖路面行驶、上斜坡、上台阶、抓取物品等实际场景试验。结果表明:该机器人在机动能力、越障能力和操作能力方面性能良好,在救援、消防、安防等领域具有潜在的应用价值。
The tracked composite robot is a multi-purpose robot that integrates the functions of hand,foot,eye and brain.In order to meet the needs of rescue missions,a tracked composite robot was developed by integrating mechanisms,electrics,communication,sensing,control,software and other multidisciplinary technologies.This paper systematically introduces the overall design objectives and technical parameters,mechanism design and selection calculation,electric power supply and servo drive,communication system architecture,sensor configuration,control architecture and client program development.The practical tests of the tracked composite robot were conducted including driving on flat road,rough road,slopes,steps,and grabbing objects,etc.The results show that the robot exhibits excellent maneuvering ability,obstacle crossing ability and operation ability,and has potential application value in rescue,firefighting,security and other fields.
作者
李文威
LI Wenwei(South China Robotics Innovation Research Institute,Foshan 528300,Guangdong,China;Foshan Zhiyouren Technology Co.,Ltd.,Foshan 528300,Guangdong,China)
出处
《中国工程机械学报》
北大核心
2026年第1期74-78,84,共6页
Chinese Journal of Construction Machinery
基金
佛山市军民融合与可持续发展科技资助项目(2018AG100143)。
关键词
救援
履带机器人
复合机器人
多学科设计
性能试验
rescue
tracked robot
compound robot
multidisciplinary design
functional experiment
