Research On Mechanical Design And Control Of Patrol Robot

In this paper, the mechanism of the patrol robot used in teaching and experiment is designed, and its control system is studied.The robot has four wheels, two of which are driven by DC motor, and the others are free. Every part of this machine is described here in detail. The mathematic modal of DC motor and the transfer function of driven parts are deduced. The expressions of calculating robot's position are deduced. The digital adjuster of control system is also designed, which use the PI algorithm. The control system is also simulated in MATLAB.The robot adopts the design method of modularization. The control modal consist of the center control module, the chassis control module and the upper platform control module. The center control module receives the command from PC and controls the other modules. The chassis control module has two DC moment motors to control the movement of the robot, it also receives the signals from photoelectrical switches which are used to avoid collision. The upper platform control platform controls all the motors on the platform and completes the analytical algorithm of coordinate. The debug of the control system hardware circuits, software design and the experiments on patrol robot are also presented in the paper, experiments are carried out on the function of patrol robot.