模塊化可重構履帶式微小型機器人的研究.pdf

1、哈爾濱工業(yè)大學碩士學位論文模塊化可重構履帶式微小型機器人的研究姓名：劉國才申請學位級別：碩士專業(yè)：機械電子工程指導教師：孫立寧20050601哈爾濱工業(yè)大學工學碩士學位論文AbstractMiniatureRobotispaidmoreattentiontoinmilitaryfieldbecauseofitssmalltarget，nimbleactionandlowcost，butitslowercapabilityofclimbi

2、ngobstacleconsumedlyrestrictsitsapplicationAteamofminiaturerobotscallenhancethecapabilityofcrossingobstaclethroughconnectingeachother‘SbodyFirstlymechanicalsystemofrobotmoduleisdevelopedMechanicalsystemofrobotmoduleiScom

3、posedbymovemechanism，tiffmechanism，reconfigurationmechanismandbodyMovemechanism’Strackdrivenbytwomotors，liftmechanismadoptsahigh—torsionservo，reconfigurationmechanismjointbypinandholeandCanbeautolockedbyaservoThebodyofro

4、botmodulelinksmovemechanism，liftmechanismandreconfigurationmechanismSecondlyrobot‘ScontrolsystemisstudiedDevelopedembededcontroller，thiscontrollercomposedbythecorechip，powermanagecircuit，communicationcircuitandmotorcontr

5、olcircuitDesignrobotsoftwaresystem，thissoftwaresystemdivideprogramanddata，computerCancontrolsevenrobotmodulesatthesametimeadoptvelocitycontrolbasedonPIDtocontroldrivenmotorLastlythecapabilityofrobotmodule’Sclimbingobstac

6、leisanalyzedAteamofrobotmodulescanreconfigurateintoachainrobotAnalyzetheprocessofchainrobotclimbingobstacleanddosomeexperimenttotestit；Ateamofrobotmodulealsocanreconfigurateintoannularrobot，analyzetheconditionthatannular