电子设计工程
電子設計工程
전자설계공정
ELECTRONIC DESIGN ENGINEERING
2015年
1期
83-86
,共4页
张强%赵丽琴%黄卓%冯靖凯%郭梁
張彊%趙麗琴%黃卓%馮靖凱%郭樑
장강%조려금%황탁%풍정개%곽량
六足机器人%倾角传感器%步进电机%单片机%液压系统
六足機器人%傾角傳感器%步進電機%單片機%液壓繫統
륙족궤기인%경각전감기%보진전궤%단편궤%액압계통
six-legged walking robot%tilt sensor%stepper motor%microcontroller%the hydraulic system
针对在崎岖地形下的运载困难以及稳定性差,影响货物安全运送等问题,设计了一种全地形水平运载系统。采用了六足步行机器人模块与水平调节模块相结合的技术,六足步行机器人模块通过软件控制18位舵机来驱动运动关节,以实现灵活的运动,另外,水平调节模块通过倾角传感器采集地面与水平面的倾斜角度,其角度数据通过51单片机处理来控制液压系统中步进电机的输出量,以实现导杆在油压作用下的升降,完成载物台的水平调节。试验表明:该系统能够在倾斜度为1°~30°范围内自动调节,使其实现水平运载功能。
針對在崎嶇地形下的運載睏難以及穩定性差,影響貨物安全運送等問題,設計瞭一種全地形水平運載繫統。採用瞭六足步行機器人模塊與水平調節模塊相結閤的技術,六足步行機器人模塊通過軟件控製18位舵機來驅動運動關節,以實現靈活的運動,另外,水平調節模塊通過傾角傳感器採集地麵與水平麵的傾斜角度,其角度數據通過51單片機處理來控製液壓繫統中步進電機的輸齣量,以實現導桿在油壓作用下的升降,完成載物檯的水平調節。試驗錶明:該繫統能夠在傾斜度為1°~30°範圍內自動調節,使其實現水平運載功能。
침대재기구지형하적운재곤난이급은정성차,영향화물안전운송등문제,설계료일충전지형수평운재계통。채용료륙족보행궤기인모괴여수평조절모괴상결합적기술,륙족보행궤기인모괴통과연건공제18위타궤래구동운동관절,이실현령활적운동,령외,수평조절모괴통과경각전감기채집지면여수평면적경사각도,기각도수거통과51단편궤처리래공제액압계통중보진전궤적수출량,이실현도간재유압작용하적승강,완성재물태적수평조절。시험표명:해계통능구재경사도위1°~30°범위내자동조절,사기실현수평운재공능。
Due to the transport difficulties and poor stability in rugged region, we designed all-terrain level transport system to deal with problems of the transportion of goods. We combined technology of hexapod walkers and level monitoring module;Hexapod walkers can drive the joint movement smoothly through the control of 18-number steering engine. In addition , level monitoring module collects the number of slant angle between horizon level and ground that is calculated by 51-Single chip microcomputer to control output of stepper motor and thus enables the lifting of guide rod under oil pressure and complete the level regulation of loading table. Experiment shows that this system can regulate automatically in the range of 1°to 30°so that realize the level transport function.