自攀爬幕墙清洗机器人控制系统设计  

The Design on the Control-System of the Self-climbing Robot For Wall Cleaning

作　　者：李锡江[1] 刘荣[1] 张厚祥[1] 宗光华[1] 

机构地区：[1]北京航空航天大学机器人研究所,北京100083

出　　处：《电子质量》2004年第1期18-19,49,共3页Electronics Quality

摘　　要：本文以国家大剧院椭球状幕墙的清洗作业为应用背景,设计了一台复杂曲面幕墙自攀爬机器人 样机。简单介绍了机器人系统的机械本体结构;详细讨论基于CAN总线网络结构的控制系统和以P80C592单 片机为核心构成的分布节点控制器;软件采用模块化设计以实现了机器人运动功能。实验表明样机控制系 统合理可靠。A new kind of self-climbing robot is proposed.which is used for cleaning the spherical surface of the National Grand Theatre. After the mechanism structure is simply introduced,the control-system based on CAN bus and a distributed controller mainly composed of the P80C592 are discussed.The motion function of robot is achieved by modularized software design.lt has been proved that the control-system has high reliability and it meets the requirement of use in practice.

关 键 词：自攀爬幕墙机器人 控制系统 机械本体结构 CAN总线 清洗作业 P80C592单片机 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]