The Design Of Rescue Walking Mechanism Under Complex EnVironment And Study On Fault Diagnosing Platform Of Its Controlling System

Along with unceasing progress of science, the deVelopment in robot field has been keeping rapid, especially the mobile robot, which has been widely used in fields like science inspection, geological prospecting, and disaster rescue and so on. And based on reading massiVe references and summarizing thoroughly the predecessors'research work, a four-foot walking mechanism has been designed to solVe the detecting and rescuing problems under complex enVironment, with preliminary simulation analysis being carried on its moVement and dynamics, and its Validity being confirmed.The author studies on emphasis of the fault diagnosis platform of its control system, which can be used to detect the fault of the mechanism's control system and walking structure, and judge the fault Very quickly, which is the absolute necessary step of solVing fault diagnosis. The main part of the platform is the production of arbitrary signal driVe source and high frequency standard signal driVe source. The arbitrary signal mentioned in this thesis adopts the method based on digital synthesis, appling this method, one first samples and quantifies a period of the signal waVeform to be generated, memorizes the obtained waVeform data in a memory, and then reads it Via hardware in certain sequence, conVerts the data Via digital-to-analog (D/A) circuit, finally outputs the analog waVeform through a filter. Then the arbitrary waVeform generator has been designed taking AVR MCU ATmega8 and high-speed D/A conVerter TLC7528 as the core. The author focuses on hardware circuit design, which has accomplished relatiVe design, including power supplies module, MCU system, high-speed D/A conVerter, and filter, etc, and has made experimental prototype and system test. With the adoption of direct digital synthesis (DDS) technology, the production of high frequency standard waVe pattern has designed supply generator taking DDS chip AD9850 as the core, and has supplied the design proposal of supply oscillator and the concrete realization mode of the software and hardware. Anti-interference component was added when designing hardware, which mainly include waVe filtering technology, close-to-earth arrangement, treatment of electricity power etc.The software was programmed by C#, which deVeloped waVeform software of the Arbitrary WaVeform Generator. Users can set up Various kinds of waVeform parameter through this software, and then control hardware module to produce corresponding waVeform signal downloaded through one UART to the hardware system.