履带式抓抛机器人系统的设计与研究  

Design and Research of Grabbing-Throwing Tracked Robot System

作　　者：高娜娜 黄欢 包家倩 GAO Na'na;HUANG Huan;BAO Jiaqian(School of Mechanical and Electrical Engineering,Beijing Polytechnie College,Beijing 100042,China)

机构地区：[1]北京工业职业技术学院机电工程学院,北京100042

出　　处：《北京工业职业技术学院学报》2024年第4期1-5,共5页Journal of Beijing Polytechnic College

基　　金：2023年北京工业职业技术学院科研课题(BGY2023KY-05);2022年北京工业职业技术学院青年教师科研能力提升支持计划项目(BGY2022KY-05QT)。

摘　　要：以全国大学生机器人大赛ROBOTAC的速胜赛为需求,设计了一种以STM32为控制核心、体积小、质量轻的履带式抓抛机器人,采用M3508电机独立驱动与M-QNB塑料贴胶履带提高驱动能力和抓地力。从履带底盘的稳定性和上部抓取、抛掷机构两方面对机器人的设计方案进行详细阐述,并通过实验进行验证。该设计符合比赛要求,底盘能满足爬坡和越障需求,上部机构具备稳定的抓取与抛掷能力,在速胜赛中具有良好的表现。Based on the requirements of the Quick Win Challenge of the ROBOTAC,a small-sized and light-mass tracked grab-and-throw robot with STM32 as the control core was designed.The robot uses M3508 motor independent drive and M-QNB plastic adhesive track to improve driving ability and grip.The design scheme of the robot is elaborated from the stability of the tracked chassis and the upper grasping and throwing mechanism,and is verified through experiments.The design meets the competition requirements,the chassis can meet the needs of climbing and obstacle crossing,and the upper mechanism has stable grasping and throwing capabilities,which has good performance in the Quick Win Challenge.

关 键 词：履带机器人 行驶稳定性 越障稳定性 抓取和抛掷 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]