【摘要】：隨著機(jī)器人技術(shù)的不斷迅速發(fā)展,攀爬機(jī)器人在高層建筑表面清洗、路燈修理、橋梁維護(hù)等領(lǐng)域得到了廣泛的應(yīng)用,對攀爬機(jī)器人的研究成為了國內(nèi)外機(jī)器人領(lǐng)域的熱點(diǎn)之一。針對攀爬機(jī)器人在樹木上的應(yīng)用,本文設(shè)計(jì)了一種針對活立木的攀爬機(jī)器人,對其攀爬控制等相關(guān)問題進(jìn)行了探討。本文對國內(nèi)外攀爬機(jī)器人的研究現(xiàn)狀進(jìn)行了介紹。對應(yīng)用在壁面、桿類、橋梁斜索以及樹木等各個領(lǐng)域的攀爬機(jī)器人的攀爬功能原理進(jìn)行了分析,并在對各種攀爬機(jī)器人的吸附方式和移動方式進(jìn)行比較分析的基礎(chǔ)上,對本文所要設(shè)計(jì)的活立木攀爬機(jī)器人進(jìn)行了機(jī)械結(jié)構(gòu)設(shè)計(jì)和控制系統(tǒng)的設(shè)計(jì),主要包括以下幾部分研究內(nèi)容:(1)本文設(shè)計(jì)的攀爬機(jī)器人移動方式采用的是蠕動式的方案,其吸附方式采用機(jī)械夾緊的方式。在機(jī)械結(jié)構(gòu)設(shè)計(jì)上利用功能模塊化的方法,將整個機(jī)械結(jié)構(gòu)分為旋轉(zhuǎn)體、主體、副體和連接體四個部分,對各部分進(jìn)行分體式的組裝。在確立了機(jī)械結(jié)構(gòu)的整體設(shè)計(jì)方案后,對各分體結(jié)構(gòu)中的關(guān)鍵機(jī)械結(jié)構(gòu)進(jìn)行工作原理分析并完成設(shè)計(jì)。(2)在對攀爬機(jī)器人的攀爬動作原理進(jìn)行描述后,通過分析,選擇了ATmega128為控制器微處理芯片對攀爬機(jī)器人的控制系統(tǒng)進(jìn)行設(shè)計(jì),主要包括硬件系統(tǒng)和軟件系統(tǒng)設(shè)計(jì)。在硬件系統(tǒng)中主要對電源模塊、通訊模塊、開關(guān)量輸入輸出模塊、信號采集模塊等各個模塊的功能以及設(shè)計(jì)電路進(jìn)行了介紹,繪制了攀爬機(jī)器人控制器工作原理框圖。在軟件系統(tǒng)中介紹了上位機(jī)和下位機(jī)在實(shí)現(xiàn)串口通訊功能上的任務(wù),給出了串口通訊流程圖,并對人機(jī)界面程序和各模塊接口程序進(jìn)行設(shè)計(jì)編寫。(3)進(jìn)行了攀爬機(jī)器人的攀爬實(shí)驗(yàn)。實(shí)驗(yàn)對攀爬機(jī)器人的攀爬能力以及控制系統(tǒng)的準(zhǔn)確性進(jìn)行了驗(yàn)證,并針對在實(shí)驗(yàn)過程中的機(jī)器人的夾緊等問題進(jìn)行了討論,提出了相應(yīng)的解決方案。本文的創(chuàng)新點(diǎn):機(jī)械結(jié)構(gòu)采用分體組裝的設(shè)計(jì)形式,使其攜帶組裝簡潔、方便;夾緊機(jī)構(gòu)中彈簧套筒結(jié)構(gòu)與限位開關(guān)的組合方式,省去了復(fù)雜的模擬量器件及電路結(jié)構(gòu);首次實(shí)現(xiàn)攜帶設(shè)備的攀爬機(jī)器人檢測活立木或古建筑。
[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.
【學(xué)位授予單位】：中國林業(yè)科學(xué)研究院
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2016
【分類號】：TP242

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