小型爬壁机器人系统设计与应用

针对一种小型的双足爬壁机器人,设计开发了基于DSP2812处理芯片的控制系统.该机器人系统采用双足真空吸盘式结构和用3个电机驱动5个关节的欠驱动结构.双足真空吸盘式结构使其可以在光滑的墙面和天棚行走,又能够在交接面之间完成跨步行走.而欠驱动结构减少了电机的数目,从而减小了机器人的尺寸和降低了机器人的质量和能量消耗,但它也给机器人的控制和运动规划带来了新的挑战.已完成的系统设计包括运动模式设计、关节控制、通信模块设计和吸盘足控制等.实验结果证明了所提出方案的可行性.

A control system based on DSP2812 was designed for a new miniature bipedal climbing robot,adopting the bipedal suction feet and an under-actuated mechanism with three motors to drive five joints.The suction feet make the robot available to climb on a smooth plane or ceiling and transit the passage between two inclined surfaces.The under-actuated mechanism can reduce the number of motors required hence the robot size/weight and power consumption.However,it imposes challenges on robot control and motion planning.The motion mode,joint control,communication module and suction cup foot control have all been designed,and the experimental results have verified the validity of the design scheme proposed.

国家高技术研究发展计划项目(2004AA4201102);;辽宁省自然科学基金资助项目(20042019)