多位置抓取机器车的系统设计与研究  

Design and Research of Multi-Position Grasping Robotic Vehicle System

作　　者：黄欢 杨永强 李淼 HUANG Huan;YANG Yongqiang;LI Miao(School of Mechanical and Electrical Engineering,Beijing Polytechnic 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》2025年第1期22-26,共5页Journal of Beijing Polytechnic College

基　　金：2024年北京工业职业技术学院科研课题(BGY2024KY-06)。

摘　　要：以2023年第十届华北五省(市、自治区)大学生机器人大赛为契机,研制了一款多位置抓取机器车。硬件方面,机器车以STM32为主控芯片,根据不同电机的性能差异,分别设计了抓取、攻击、行走等机构,使机器车具备多位置精准抓取的功能;考虑比赛的对抗性要求,设计了攻防兼备的车体。软件方面,开发简单易操作的FreeRTOS系统,采用多任务调度机制,结合PID控制算法,确保机器车的快速响应与稳定性能。测试结果证明:设计的机器车具备一定的可靠性和可行性,可为在复杂环境中智能抓取目标物的应用场景,提供一种有效的解决方案。Taking the opportunity of the 10th North China Five Provinces(Municipalities,Autonomous Regions)College Student Robot Competition in 2023,a multi-position grasping robotic vehicle was developed.In terms of hardware,the robot car uses STM32 as the main control chip.Based on the performance differences of different motors,mechanisms such as grasping,attacking,and walking were designed to enable the robot car to has precise grasping functions at multiple positions.Considering the competitive requirements of the competition,a car body with both offensive and defensive capabilities was designed.In terms of software,a simple and easy-to-use FreeRTOS system was developed,which adopted a multi-ask scheduling mechanism and combined PID control algorithm to ensure the fast response and stable performance of the robot car.Experimental results have shown that the designed robotic vehicle has certain reliability and feasibility,and can provide an effective solution for intelligent grasping of target objects in complex environments.

关 键 词：多位置抓取 机器车 D-H参数法 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]