| This paper takes the actual project "Guide and service-robot system for JiangsuMuseum of Science and Technology" as background. According to actual demandsfor this robot project and the performance indicators the robot need to meet, andcombining with the current development of robot technology, the author developed amultifunctional robot system. It has a high reliability, and the line-track guidingfunction. Between human and robot can also build an interaction. This robot can greetguests politely. So it can meet the need of guide services in hall, shops or other place.On the base of analysis about functions and demands, the main part of thecontrol system is a small industrial computer; it uses wheeled mobile means, andtakes stepper motor as the robot drive.In this paper, the mobile robot research focused on three areas: Mobile robotplatform mechanical structure design; Mobile robot motion control system design andimplementation; Based on signs mobile robot navigation designand implementation.Through the design to wheel, frame, arm and other parts of the robot, the authorget a viable mechanical systems design. Through the design to motion control card,the stepping motor and the study to characteristics of them, the author design a motioncontrol program. The paper designs a line-tracking navigation system based on thephotoelectric sensor, and this system is checked and optimized by doing experiment.These design programs lay a technological foundation for future research of thisservice-robot.Finally, the paper makes a conclusion for the design of robot platform and pointsout the results already achieved and the works unfinished. The author also made anenvisage for the future work. |
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