一种自主移动运输机器人的设计与验证  

Design and verification of an autonomous mobile transport robot

作　　者：黄小龙[1] 李和洋 许世强 蔺晟杰 张莹 郭泽堃 HUANG Xiaolong;LI Heyang;XU Shiqiang;LIN Shengjie;ZHANG Ying;GUO Zekun(School of Mechanical and Electrical Engineering,Beijing Information Science and Technology University,Beijing 100192,China)

机构地区：[1]北京信息科技大学机电工程学院,北京100192

出　　处：《现代制造工程》2023年第10期50-56,43,共8页Modern Manufacturing Engineering

基　　金：北京市属高校教师队伍建设支持计划项目(BPHR20220229)。

摘　　要：在机器人搬运场景中,经常会出现货物实际姿态与预期不一致的情况,这时往往需要人工协作进行调整,工作效率和节拍因此受到影响。为解决以上问题,设计了一种自主移动运输机器人,可全向移动且具有新型摩擦轮-夹爪复合式取物结构及货物姿态调整结构,其控制系统采用同步定位与建图(Simultaneous Localization And Mapping,SLAM)等技术。通过pitch轴和yaw轴货物姿态调整实验确定了关键工作参数的最优值。最后进行了自主导航实验,结果表明该机器人在室内环境可实现自主导航。In the robot handling scene,the actual attitude of the cargoes is often inconsistent with the expected situation,which often requires manual coordination to adjust,as a result the work efficiency and rhythm are affected.To solve the problems above,an autonomous mobile transport robot was designed,which can move in all directions and has a novel friction wheel-claw compound fetching structure and cargo attitude adjustment structure.Its control system used Simultaneous Localization And Mapping(SLAM)technology.Through the cargo attitude adjustment experiments of the pitch axis and yaw axis,the optimal values of key working parameters were determined.Finally,the experiment of autonomous navigation was carried out,and the results showed that the robot can realize autonomous navigation in indoor environment.

关 键 词：自主移动运输机器人 摩擦轮-夹爪复合式取物结构 姿态调整 同步定位与建图 自主导航 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]