履带式越障机器人系统设计  

Design of System of a Kind of Crawler Type Obstacle Surmounting Robot

作　　者：王枭 王超星 刘淑晶[3] WANG Xiao;WANG Chaoxing;LIU Shujing(Daxing 1st Middle School, Beijing 102600, China;Sanhe Vocational Education Center,Sanhe 065200, China;College of Mechanical Engineering, Beijing Institute of Petrochemical Technology, Beijing 102617, China)

机构地区：[1]北京市大兴区第一中学,北京102600 [2]三河市职教中心,河北三河065200 [3]北京石油化工学院机械工程学院,北京102617

出　　处：《新技术新工艺》2018年第12期17-21,共5页New Technology & New Process

摘　　要：针对复杂地形环境的巡检作业,设计了一种履带式越障机器人。分析了复杂地形特点,确定了履带式越障机器人的系统方案,进而利用组件对机器人及越障机构进行了设计,并搭建了履带式越障机器人机械本体结构。基于BASRA主控板搭建了履带式越障机器人控制系统,并采用模块化的设计思想编写控制系统程序,进行了履带式越障机器人的越障性能试验。试验结果表明,履带式越障机器人可以顺利爬越2层台阶障碍物,为能够在复杂地形下进行巡检作业的机器人研究提供理论依据。A crawler type obstacle surmounting robot was designed for patrol work in complex terrain environment.Under the condition of analyzing the characteristics of complex terrain,the system scheme of the crawler type obstacle surmounting robot was determined,and then the robot and the barrier surmounting mechanism were designed and basic machine structure was built.The control system of the robot was built based on the BASRA main control board,and the modular design was adopted to code,the obstacle surmounting performance experiment of tracked obstacle climbing robot was also carried out.The experimental results showed that the crawler type obstacle surmounting robot can climb the two steps obstacle smoothly and it provided the theoretical basis for the inspection operation robot research under the complex terrain.

关 键 词：履带式越障机器人 系统方案 机械本体结构 越障机构 控制系统 性能试验 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]