可重构履带机器人的机构设计与控制方法实现  

Mechanism design and control method of reconfigurable tracked robot

作　　者：王田苗[1] 邹丹[1] 陈殿生[1] 

机构地区：[1]北京航空航天大学机械工程及自动化学院,北京100083

出　　处：《北京航空航天大学学报》2005年第7期705-708,共4页Journal of Beijing University of Aeronautics and Astronautics

基　　金：国家自然科学基金资助项目(60405007);国家863计划资助项目(2003AA404190)

摘　　要：开发了用于完成复杂地形侦察作业的可重构履带机器人.从可重构机器人的特点出发,研究了模块化的机械电气结构和控制方法实现.设计实现的可重构机器人由4个基础运动模块,3个连杆模块和2个转动关节模块组成,通过各个模块的不同组合形式,实现了机器人构型的可重构.系统采用分布式控制体系,研究实现了机械构型发生改变时,基于ARM(AdvancedRISCMicroprocessor)的实时嵌入式控制系统的可重构.通过模拟楼宇内房间侦察作业,验证了可重构履带机器人具备复杂地形环境适应能力和简单方便的可重构性能.The reconfigurable tracked robot was developed for all-terrain recon. Based on the unique characters of reconfigurable robot, modular mechanical and electrical structure and control method were discussed. The tracked robot was composed of four basic locomotion modules, three connecting rods and two rotational articulations. By the different configurations of all the modules, the mechanical reconfiguration of the tracked vehicle was realized. The distributed control system was adopted. Based on the ARM （advanced RISC microprocessor） real time embedded control system, the reconfiguration was realized when the mechanical structure of the robot was reconfigured. The tracked robot was validated that it has the excellent adaptable ability in complex terrain and has easy and simple reconfigurable performance when it executed recon in the building interior simulating the real task.

关 键 词：模块化机器人 机构 嵌入式系统 实时控制系统 可重构 侦察 

分 类 号：TP2[自动化与计算机技术—检测技术与自动化装置]