排爆机器人机械臂控制系统设计  

Design of EOD robot manipulator control system

作　　者：李波[1] 张瑾[1] 李国栋[2] 

机构地区：[1]中国兵器装备集团上海电控研究所,上海200092 [2]杭州电子科技大学机械工程学院,浙江杭州310018

出　　处：《机电工程》2015年第8期1110-1114,1150,共6页Journal of Mechanical & Electrical Engineering

基　　金：中国兵器装备集团公司研发基金资助项目(EJ11-8013)

摘　　要：针对远程控制排爆机器人机械臂能否精确定位并完成排爆任务的问题,将运动学、动力学分析方法与分布式控制理论应用到机械臂控制系统设计中,对机械臂的运动特征与实用控制原理进行分析研究,对机械臂控制系统的硬件、软件分别进行了具体设计,确定了总体结构与主要部件参数,硬件上采用以LPC2378为核心的主控制器、LPC2368为核心的协处理器架构的控制系统,软件上采用CAN 2.0B总线技术完成主控制器与协处理器间通讯,提出了一种基于模块化设计与多传感器信息融合的机械臂控制系统,并在多种条件下进行仿真测试。研究结果表明,该排爆机器人机械臂各项技术指标基本达到设计要求,能够较好地实现远程视频定位控制、拆除剪断引爆器和搬运爆炸物,具备一定的反恐排爆能力。Aiming at the problems of explosive ordnance disposal （EOD） robot manipulator accurate positioning by remote control, the kine- matics analysis, dynamic analysis and distributed control theory were applied on the manipulator control system design. The motion feature and control principle of manipulator was analyzed. The hardware and software were designed specifically. The overall structure of manipulator and main parts parameter were confirmed. The LPC2378 was used as core in main controller and LPC2368 was used as core in coprocessor. The CAN BUS 2.0B was adopted to communicate between main controller and coprocessor. A manipulator control system based on modular design and multiple sensor intelligence fusion was put forward and tested in various conditions. The experimental results indicate that the ro- bot manipulator technical criteria can be achieved, and it can remotely position, demolish the blasting machine and transport explosive which indicates the EOD robot is able to counter terrorist to some extent.

关 键 词：排爆机器人 机械臂 控制系统 模块化设计 信息融合 

分 类 号：TH39[机械工程—机械制造及自动化] TH134