共查询到10条相似文献，搜索用时 187 毫秒
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系统设计采用高性能八位微处理控制器STC89C52RC单片机为核心,信号分别由机器人前后安装的光电传感器和机器人前面安装的触角传感器采集,经主控制器的I/0口处理后,用于机器人的运动控制决策,使其能够寻迹、避障行、抓取物体、搬运物体,同时发出PWM波驱动直流电机对机器人进行加速减速和转弯控制. 相似文献
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This paper describes a novel design for the carrier mechanism of a pipe-inspection micro robot. Based on this mechanism, a new
micro robot for the pipes with diameter of 20mm has been developed. It can travel through both vertical pipes and curved pipes to make
possible inspection that would be difficult with conventional endoscopes. This mechanism is composed of three units, two novel micro
mechanisms called as a planetary wheel mechanism for robot drive, two micro electromagnetic motors and a flexible coupler. 相似文献
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轮式微型机器人运动机理与步态规划 总被引：1，自引：0，他引：1
在一种新型形状记忆合金驱动器的基础上,研制了一种微型蠕动机器人,该机器人采用轮式移动机构.对形状记忆合金驱动器、轮式移动机构的结构和运动机理以及机器人的步距扩大原理进行了讨论.并在此基础上,对机器人的直线运动步态和转弯步态进行了规划,使机器人在偏心轮自锁机构和换向机构作用下,不但可以前后运动,还具有主动转弯能力,在一定程度上克服了传统的形状记忆合金机器人移动速度慢、只能被动转弯的缺点.最后对形状记忆合金驱动器所需加热电流及该机器人的运动性能进行了试验分析. 相似文献
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Mechanical design and locomotion control of a homogenous lattice modular self-reconfigurable robot 总被引：1，自引：0，他引：1
INTRODUCTION Modular self-reconfigurable (MSR) robots con-sisting of a set of standardized electromechanical modules which can independently and dynamically change their aggregate geometric structure to com-plete different task requirements. Compared with the traditional fixed architecture robot, this kind of robot has several potential advantages: versatility, adapta-bility, robustness, and low cost. MSR robots’ ability in self-reconfiguration makes them particularly useful for applica… 相似文献
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Hardware development for a mobile teaching and demonstration robot is described. Measuring 100 cm (length) × 60 cm (width) × 50 cm (height), the robot is designed to walk on four legs. The mainframe is essentially transparent so as to allow the viewing of its various electronic and mechanical components while in action
Various gaits in four-legged locomotion are discussed briefly. Several mechanisms are introduced which allow motion of the mainframe on four legs. One mechanism that possesses some degree of obstacle-crossing ability is selected and optimised for smoothness of ride. This mechanism makes the robot walk like a horse
Initial trials without computer-control of a full sized model showed that the robot thumps softly as it walks. Smoothness of motion and actual obstacle-crossing features were found to be satisfactory. 相似文献
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1 Introduction The main advantage of reconfigurable robots is thatthey can change structures and shapes autonomouslyaccording to the external environment or practical taskdemands . This makes themrobust and flexible to suitthe tasks and the environment in order to work well inmany unstructured environments such as aviation,planetary exploration, military reconnaissance andattacks ,rescue ,etc. Many researches have been con-ducted in recent years[1-5],and there has been increa-sing research int… 相似文献
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This paper presents a disturbance rejection scheme for walking robots under unknown external forces and moments. The disturbance rejection strategy, which combines the inverse dynamics control with the acceleration projection onto the ZMP （zero moment point）-plane, can ensure the overall dynamic stability of the robot during tracking the pre-computed trajectories. Under normal conditions, i.e., the system is dynamically balanced, a primary inverse dynamics control is utilized. In the case that the system becomes unbalanced due to external disturbances, the acceleration projection control （APC） loop, will be activated to keep the dynamic stability of the walking robot through modifying the input torques. The preliminary experimental results on a robot leg demonstrate that the proposed method can actually make the robot keep a stable motion under unknown external perturbations. 相似文献
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SUN Lin zhi SUN Ping WANG Cun min QIN Xin jie 《上海大学学报(英文版)》1999,3(4):308-312
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