CAJ | 학술논문

开发并研制了一种具有全面防护功能的爬壁机器人 ,介绍了机器人基本的抗摔装置 ,详细阐述了其主要结构支撑架的设计理念及设计过程 ,支撑架仿照龟壳形状设计 ,并将负压板、风扇架、行走装置固定架设计为一体 ,减少了成本 ,简化了机器人的装配过程.机器人控制系统采用DSP作为主控芯片 ,通讯方式为WIFI通讯 ,上位机界面由Android开发 ,操作简单 ,控制方便.测试结果表明该样机工作性能良好 ,具有一定的抗摔性 ,为以后对爬壁机器人抗摔等方面的研究提供了一种思路.
개발병연제료일충구유전면방호공능적파벽궤기인 ,개소료궤기인기본적항솔장치 ,상세천술료기주요결구지탱가적설계이념급설계과정 ,지탱가방조구각형상설계 ,병장부압판、풍선가、행주장치고정가설계위일체 ,감소료성본 ,간화료궤기인적장배과정.궤기인공제계통채용DSP작위주공심편 ,통신방식위WIFI통신 ,상위궤계면유Android개발 ,조작간단 ,공제방편.측시결과표명해양궤공작성능량호 ,구유일정적항솔성 ,위이후대파벽궤기인항솔등방면적연구제공료일충사로.
A kind of climbing robot with universal protection device was developed .This paper introduced the basic anti-thrown de-vice of the robot and elaborates the design concept and progress of support frame ,the main structure of the robot .The support frame was designed after the shape of turtle shell and as a collection of negative pressure plate ,fan frame and fixed mount of travelling mechanism ,which reduced the cost and also simplified assembly process of the robot .The control system used DSP as main control chip and WIFI module as communication module ,and the user interface was developed in Android system .These made the operation simple ,easy to control .The platform was tested after successful establishment .The result shows that the prototype works very well and has a certain resistance to impact ,which provides a kind of thought and a reference for the research of the properties of climbing robot .