自适应履带机器人的研究与测试  

Research and implementation on adaptive crawler robot

作　　者：彭宽栋[1] 张学良[1] 郑龙[1] 罗晓晔[1] 曹周杰 PENG Kuan-dong;ZHANG Xue-liang;ZHENG Long;LUO Xiao-ye;CAO Zhou-jie(Institute of high-end equipment, Hangzhou Polytechnic, Hangzhou 311402, China)

机构地区：[1]杭州科技职业技术学院高端装备研究所,浙江杭州311402

出　　处：《机电工程》2017年第12期1485-1490,共6页Journal of Mechanical & Electrical Engineering

摘　　要：针对目前我国快递及外卖等行业最后一公里投送困难及投送无电梯造成的送货慢、送货难、物品丢失损伤等问题,将新型自适应履带机器人技术应用到快递及外卖中,运用三维建模软件建立了机器人的参数化模型后,提出了以三段式履带机构+曲柄摆臂机构+同步带轮机构为基础的复合机器人本体结构设计的新研究方案,建立了机器人静态运动模型与本体机构运行关系,在此基础上采用基于单片机作为机器人控制系统开发设计的主控单元设计了机器人驱动控制系统、智能投递系统,最后对该机器人进行了运行测试评价。结果表明:所设计的机器人运行稳定,达到总体设计要求。Aiming at solving the last-mile problem that plagues the express and take-away industry in China,loss and damage of goods is always inevitable when the delivery efficiency is difficult to be improved due to the lack of elevator.The new-type adaptive crawler robot technology was applied in express and take-away industry.A new structural design of compound robot with the basis of three-phase track mechanism,crank-arm mechanism and synchronous belt pulley mechanism was constructed after the establishing of parametric model of the robot with three-dimensional modeling software.The relationship between the static motion model and the body mechanism was established.On this foundation,the robot control system and intelligent delivery system were designed with the adopting of MCU as the control unit of the robot control system.The results of operational test evaluation indicate that the robot is stable and satisfactory.

关 键 词：曲柄摆臂 机器人 智能投递 人工智能 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TH122[自动化与计算机技术—控制科学与工程]