模块化可重构履带式微小型机器人的研究  

A Modular Reconfigurable Tracked Micro-robot

作　　者：李满天[1] 黄博[1] 刘国才[1] 孙立宁[1] 

机构地区：[1]哈尔滨工业大学机器人研究所,黑龙江哈尔滨150081

出　　处：《机器人》2006年第5期548-552,共5页Robot

基　　金：国家863计划资助项目(2004AA420110);黑龙江省科技攻关计划资助项目(GB04A502)

摘　　要：研制了一种模块化可重构履带式微小型机器人.单个微小型机器人可以独立运行,多个微小型机器人可以重构成链形机器人和环形机器人.微小型机器人结构紧凑、体积小、重量轻.采用了微控制器和PC机两级控制体系,两级间采用蓝牙通讯.实验结果验证链形机器人具有较强的越障能力,能爬越楼梯;环形机器人具有高速及路面适应能力强的特点.A modular reconfigurable tracked micro-robot is proposed. Each single micro-module can run separately, and several micro-modules can be reconfigured into a chain-shaped robot or a loop-shaped robot. The robot is compact, small and light. A hierarchical control architecture is adopted, which comprises of a microprocessor level and a PC level and communicates through blue-tooth between two levels. Experiments verify that the chain-shaped robot has a strong obstacle-climbing capability, and can climb stairs; and that speed and adaptability of the loop-shaped robot are good.

关 键 词：微小型机器人 可重构 模块化 越障 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]