Structure And Control System Design Of Stair Climbing Robot

At present,there are two main methods of transporting in the of actual production process artificial,one is manual driving tractor and the other one is using AGV car.The application of AGV car in warehouse transportation system can effectively improve the work efficiency of the whole manufacturing system,but the AGV car just can work in the smooth ground,and the transportation is limited to the smooth road with better ground condition,in the stair environment,the transport of goods can not be replaced by manpower,How to design a kind of intelligent transportation robot which has the function of AGV trolley transportation and stair climbing is a realistic problem to be solved urgently,in this paper we aimed at the research of structure and control system design of stair climbing robot.Aimed at how to realize stair climbing,how to effectively and accurately detect obstacles' type and locations,and how to adjust the robot barycenter quickly and accurately,we designed the deformation of the wheel mechanism which can realize the stair climbing process;based on the parallelogram mechanism principle we designed the stair climbing robot center mediation mechanism which can realizes climb robot's adjustment of barycenter's position,through the design of climbing robot ontology,the dynamic equations of the step climbing robot are established.According to the dynamic research results,a control scheme is proposed to ensure the normal operation of the stair climbing robot.Based on the embedded system development technology and the MC9S12XS128 chip as the main control chip,the real-time control system of the stair climbing robot is designed,which provides the hardware foundation for the application of the control scheme.The ultrasonic sensors are used to detect the external environment of the step climbing robot,so that the climbing robot can accurately determine the type and orientation of obstacles.The fuzzy-PID control method is used to design the obstacle avoidance control rules of the step climbing robot,and the step climbing robot can quickly and accurately avoid obstacles when climb robot is moving.Though the experiment,we tested climb robot's abilities of stair climbing r,obstacle avoidance,and barycenter's adjustment,and based on the designed assistant module,the parameters of the climbing robot are collected and analyzed,the result showed the structure and control system that we designed for the stair climbing robot is feasible.