| Robots are becoming more widely used in the implementation of anti-terrorism,explosive-handing, environmental detection and searching&rescuing. Due to thecomplication of the work environment, special robots need better operational reliability.This paper aims to provide the design of a joint tracked specialized robot with strongadaptability and the obstacle navigation study based on it.The design requirement was given based on the robot’s non-structural workenvironment. According to the request parameters, the study of this control systemchose the joint-track structure to guarantee the agility body, designed a special frettedwheel to lighten the robot, used the distributed control module to achieve thewireless-communication, followed the modular design method to promote systemmaintainability, and made use of graphics environment to worked out friendly userinterface.Besides the control core dsPICFJ12MC202DSC, the design of the on-boardcontroller also included the sub-control module based on LMD18200, the LM2576controlled power module, the wireless communication sub-system, the controlledlighting sub-system and the2DOF pan and tilt. As for the user-control end, theequipment combined the vision acquisition&show and the control system receiving&sending. Making use of LabVIEW, the user-interface software was designed friendlyand stable. All the components mentioned above constituted a reliable remote controlsystem, which could respond to both the user command and the environment in time.Based on the prototype module, the study of obstacle navigation planed theattitude adjustment, analyzed the process stability and computed the maximumobstacle-crossing height, using the center of mass motion theory. What’s more, thestudy of kinetic methods analysis gave the relationship between the obstacle-climbinginitial angle and the motor torque. At last, the performance of the mobile robot wasverified in the environmental adaptability experiment and obstacle negotiationexperiments... |
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