一种活立木攀爬机器人结构设计与运动控制研究

发布时间：2018-09-03 16:40

【摘要】：随着机器人技术的不断迅速发展,攀爬机器人在高层建筑表面清洗、路灯修理、桥梁维护等领域得到了广泛的应用,对攀爬机器人的研究成为了国内外机器人领域的热点之一。针对攀爬机器人在树木上的应用,本文设计了一种针对活立木的攀爬机器人,对其攀爬控制等相关问题进行了探讨。本文对国内外攀爬机器人的研究现状进行了介绍。对应用在壁面、杆类、桥梁斜索以及树木等各个领域的攀爬机器人的攀爬功能原理进行了分析,并在对各种攀爬机器人的吸附方式和移动方式进行比较分析的基础上,对本文所要设计的活立木攀爬机器人进行了机械结构设计和控制系统的设计,主要包括以下几部分研究内容:(1)本文设计的攀爬机器人移动方式采用的是蠕动式的方案,其吸附方式采用机械夹紧的方式。在机械结构设计上利用功能模块化的方法,将整个机械结构分为旋转体、主体、副体和连接体四个部分,对各部分进行分体式的组装。在确立了机械结构的整体设计方案后,对各分体结构中的关键机械结构进行工作原理分析并完成设计。(2)在对攀爬机器人的攀爬动作原理进行描述后,通过分析,选择了ATmega128为控制器微处理芯片对攀爬机器人的控制系统进行设计,主要包括硬件系统和软件系统设计。在硬件系统中主要对电源模块、通讯模块、开关量输入输出模块、信号采集模块等各个模块的功能以及设计电路进行了介绍,绘制了攀爬机器人控制器工作原理框图。在软件系统中介绍了上位机和下位机在实现串口通讯功能上的任务,给出了串口通讯流程图,并对人机界面程序和各模块接口程序进行设计编写。(3)进行了攀爬机器人的攀爬实验。实验对攀爬机器人的攀爬能力以及控制系统的准确性进行了验证,并针对在实验过程中的机器人的夹紧等问题进行了讨论,提出了相应的解决方案。本文的创新点:机械结构采用分体组装的设计形式,使其携带组装简洁、方便;夹紧机构中弹簧套筒结构与限位开关的组合方式,省去了复杂的模拟量器件及电路结构;首次实现携带设备的攀爬机器人检测活立木或古建筑。
[Abstract]:With the rapid development of robot technology, climbing robot has been widely used in the field of surface cleaning, street lamp repair, bridge maintenance and so on. The research of climbing robot has become one of the hot spots in the field of robot at home and abroad. Aiming at the application of climbing robot in trees, this paper designs a kind of climbing robot for standing trees, and discusses the related problems such as climbing control and so on. This paper introduces the research status of climbing robot at home and abroad. The climbing function principle of climbing robot applied in wall, pole, bridge cable, tree and so on is analyzed, and on the basis of comparing and analyzing the adsorption mode and movement mode of various climbing robots, The mechanical structure design and control system of the climbing robot are designed in this paper. The main contents are as follows: (1) the movement mode of the climbing robot designed in this paper is a creeping scheme. The adsorption mode is mechanical clamping. In the design of mechanical structure, the whole mechanical structure is divided into four parts: rotating body, main body, accessory body and connection body by the method of function modularization. After establishing the overall design scheme of the mechanical structure, the working principle of the key mechanical structure in each split structure is analyzed and the design is completed. (2) after the description of the climbing movement principle of the climbing robot, the analysis is carried out. The control system of climbing robot is designed by using ATmega128 as controller microprocessing chip, including hardware system and software system design. In the hardware system, the functions and design circuits of power supply module, communication module, switch input and output module, signal acquisition module and so on are introduced, and the working principle block diagram of climbing robot controller is drawn. In the software system, the tasks of upper computer and lower computer in realizing serial communication function are introduced, and the flow chart of serial communication is given. The man-machine interface program and each module interface program are designed and compiled. (3) the climbing experiment of climbing robot is carried out. The experiment verifies the climbing ability of the climbing robot and the veracity of the control system, discusses the clamping of the robot in the process of experiment, and puts forward the corresponding solution. The innovations of this paper are as follows: the mechanical structure adopts the design form of split-body assembly, which makes it simple and convenient to carry and assemble, and the combination of spring sleeve structure and limit switch in clamping mechanism saves the complicated analog device and circuit structure. For the first time, a climbing robot carrying equipment is used to detect living trees or ancient buildings.
【学位授予单位】：中国林业科学研究院
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：TP242

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