多构型移动机器人创新实验平台设计  

Design of Multi-configuration Mobile Robot Innovative Experimental Platform

作　　者：陈晓红[1] 柏龙[1] 孙园喜 毛亚芳[2] 王浩[1] CHEN Xiaohong;BAI Long;SUN Yuanxi;MAO Yafang;WANG Hao(College of Mechanical and Vehicle Engineering,Chongqing University,Chongqing 400044,China;Chongqing University-University of Cincinnati Joint Co-op Institute,Chongqing University,Chongqing 400044,China)

机构地区：[1]重庆大学机械与运载工程学院,重庆400044 [2]重庆大学-辛辛那提大学联合学院,重庆400044

出　　处：《实验室研究与探索》2022年第6期117-121,共5页Research and Exploration In Laboratory

基　　金：重庆市高等教育教学改革研究重大项目(191001,191004);教育部产学合作协同育人项目(201902321005,201902321003);重庆大学教改项目(2017Y27,2020S04,2019Y20,2020Y55);重庆大学研究生重点课程建设项目(201805002)。

摘　　要：针对现有机器人实验平台存在的构型与功能单一的问题,设计了模块化多构型移动机器人实验平台。该平台由可拼装机械套件、驱动系统、控制系统组成,可快速搭建麦克纳姆轮、全向轮及履带等多种构型的移动机器人。利用Arduino/STM32/树莓派等上层控制器通过串口通信可以调用开发的底层运动控制算法实现机器人的运动控制;通过UART、IIC、模拟/数字引脚等接口连接不同类型的传感器,还可进行二次开发。该平台既可满足机器人的技术学习、验证和研究中对多种构型移动机器人平台及其控制算法开发的需求,也满足实验教学、学生竞赛与创新活动等任务的需求。In order to solve the problem that most mobile robots currently have only a single configuration,a modular multi-configuration mobile robot experimental platform is designed.The platform is composed of modular mechanical kit,actuating system and control system,which can quickly build a variety of configurations of mobile robots such as McNamee wheel,omnidirectional wheel and crawler,etc.The upper layer controller such as Arduino/STM32/Raspberry Pi can call the developed underlying motion control algorithm through serial port to realize the motion control of the robot,and can connect different types of sensors through UART,IIC,A/D pins,etc.for secondary development.It can meet the needs of robotics learning,verification and research for the development of multiple configurations of mobile robot platforms and its control algorithms.It also meets the needs of experimental teaching,student competitions,and innovation activities as well.

关 键 词：多构型机器人套件 教育机器人 移动机器人 模块化设计 

分 类 号：TP241.2[自动化与计算机技术—检测技术与自动化装置]