Design And Research Of Obstacle Surmounting Tracked Detection Robot System

A With the development and progress of human society,mobile robot technology has attracted the attention of all countries,and with the continuous improvement of science and technology,robot technology has become the forefront of scientific research after integrating into multi-disciplinary categories,including artificial intelligence,biological simulation technology,and so on.In this paper,through consulting the relevant literature at home and abroad,we design a crawler robot system which can normally move in the field complex environment.The original design intention of the robot system is to carry out dynamic test in the field environment by carrying the test equipment developed by the laboratory.According to the design purpose of the tracked robot system,the relevant technical indicators are formulated.Based on the TMS320F28335 digital signal processor,the overall design scheme of hardware and software is planned.The main contents of this paper are as follows:According to the hardware design scheme of the crawler robot system,the crawler robot system is divided into power supply and conditioning module,track chassis module,DSP control module,six degree of freedom manipulator module,camera module,lifting platform module,Bluetooth remote control module,etc.And the mechanical structure design,hardware construction and electrical principle control of each module are completed respectively.Aiming at the two YS11 / 22 type 24 V brushless DC central motors loaded in the crawler robot system,the control principle and rotation model are introduced,so as to better design the motor control program and realize the accurate control of speed.At the same time,the forward and inverse kinematics analysis based on D-H model is carried out for the six degree of freedom manipulator module,and the spatial coordinates of each joint of the manipulator are analyzed and solved to realize the control of the manipulator and the experiment of grasping objects.According to the software of the tracked robot system,the main program of the system and the subprogram of each control module are designed and compiled,including the motor control subprogram design of the tracked chassis module,the six way servo control subprogram design of the manipulator module,the lifting control subprogram design of the lifting platform module,and the camera control subprogram design.After the completion of the system hardware construction,software and subroutine development and debugging,a comprehensive experimental test and performance analysis of the tracked robot system are carried out,including the crawler chassis test,mechanical arm grasping test,lifting platform load-bearing test and so on.The test results show that the robot system meets the expected design requirements.Finally,the paper summarizes the problems encountered in the process of completing the paper,and accordingly leads to the thinking of the problems and the discussion of the research direction helpful to solve these problems.