Bionic Mobile Wheel-legged Teleoperation Robot

Since the 50 generation of the last century,the Soviet Union and the United States began to explore the moon race,opened the journey of extraterrestrial exploration.In 2004,China also began its lunar exploration program,and made three phases of the plan.With the rising of the research activities,the research of the planet rover has become the key research object.Due to the harsh environment of the alien planet,the unmanned planet car has current become the mainstream research object.In this thesis,according to the demand of the future planet detection vehicle,combined with bionics,the research of the bionic mobile robot is carried out,and a new point of view and ideas to explore the planet rover.In this thesis,the development status and research trends of the domestic and international planetary rover and bionic mobile robot are analyzed.Then,the mechanical structure design of the bionic moving wheel legged teleoperation robot is introduced,which is based on the ant,including the head,chest and abdomen structure,as well as the mechanical arm.The robot system adopted Modular design is divided into three parts:communication transmission level,control level and device level.Linux operating system based on RPi as the main controller,using Python language to achieve the main controller of the robot control.The robot power management module can output 24V,12 V,5 V and 3.3 V four kinds of voltage.Design the robot motion control module and the robot sensor module dual' hardware and software,which are based on dual core coremicrocontroller.Design the mechanical arm motion' hardware and software with single core microcontroller.In order to point at the functional requirements of the module of the bionic moving wheel legged teleoperation,the thesis design a kind of miniature teleoperation controller with intuitive and good man-machine interface.In order to facilitate the operator control,design the voice control,handle control,while increasing the visibility of the tablet computer control.In the end,this thesis makes an experimental study on the ground motion ability of the bionic moving wheel legged teleoperation robot,including the flat ground,grassland and rock ground.In addition,pointing at the robot obstacle surmounting ability,two experiments of climb the stairs were designed.First,through the laser radar to measure the inclination of different staircases,to determine whether the robot can pass.Then monitor the robot's roll angle,pitch angle and yaw angle by the attitude sensor to adjust the robot in real time and to prevent accidents when the robot climbing the stairs.