Research On Robot Triangular Crawler Walking Mechanism And Its Control

The hilly and mountainous areas have large slopes and complex topography,and it is difficult for general agricultural machinery to operate.It is the area with the weakest mechanization.The main crop in hilly and mountainous areas of China is planting fruit trees,which requires the orchard robot to have strong obstacle crossing ability when working on complex ground.Wheel robot and foot robot drive to the soft soil of orchard,easy to walk in the soil can not move,encounter a wide gully can not pass quickly and smoothly.Traditional single-section double-track robot often can not cross successfully in the face of higher ridges,even if successful,it will cause damage to crawler mechanism and even transmission system.In the dissertation,a kind of robot triangle crawler walking mechanism is designed to improve the performance of the robot,enhances the adaptability to various road conditions and reduces the failure and damage rate of robot.The main work and achievements of the dissertation are as follows:1.In the dissertation,the development of robot and the advantages and disadvantages of various mobile mechanisms of robot are briefly introduced,and the current research status of crawler mobile robot at home and abroad is reviewed.The research and development trend of crawler mobile robot in the future is analyzed and summarized.2.The mechanical structure is designed from three aspects: the overall structure of the robot triangle crawler walking mechanism,the triangular crawler module and the body module,and the overall size and the structural parameters of the triangular crawler module are designed in combination with the working environment.The characteristics and advantages of the triangular crawler structure and the internal transmission structure layout are analyzed,and the motion principle in the process of crossing the obstacle can be changed passively when the obstacle is difficult to cross,the obstacle crossing ability is improved,the number of motors is reduced,and the control is simplified.The kinematics and dynamics of the robot triangle crawler walking mechanism are analyzed,the mathematical model is established,and the steering and in-situ steering characteristics of the robot are studied.3.The basic principle of fuzzy control and the design process of fuzzy controller are briefly described.Based on the establishment of map coordinate system and trajectory prediction model of robot triangle crawler walking mechanism,a dynamic obstacle avoidance control system based on fuzzy trajectory prediction is proposed.Based on the principle of PID controller and SVPWM speed regulation,a permanent magnet synchronous motor control system based on fuzzy PI control is proposed.A simulation model was constructed by Matlab/Simulink software,and simulation research and analysis were carried out.4.The digital experimental platform for motion control of robot triangle crawler walking mechanism is designed.The hardware of the digital control system is designed and fabricated.The DSP TMS320F2812 minimum system board,power drive module and sensor signal conditioning interface circuit are designed.The functions of special sensors such as ultrasonic ranging module(HC-SR04),gyroscope module(MPU6050)and fixed baseline binocular vision camera(HNY-CV-001)are introduced.The related software of motion control system is developed,and the software design of robot triangle crawler walking mechanism motion control system is carried out from two angles: main program and interrupt service subroutine.Finally,a comparative analysis of the dual-motor drive system in the robot triangle crawler walking mechanism under the traditional PID controller and the fuzzy PID controller for straight travel and steering was carried out.The rationality and correctness of the designed robot triangle crawler walking mechanism and motion controller were verified.