模块化可重构履带式微小型机器人的研究

A Modular Reconfigurable Tracked Micro-robot

  • 摘要: 研制了一种模块化可重构履带式微小型机器人.单个微小型机器人可以独立运行,多个微小型机器人可以重构成链形机器人和环形机器人.微小型机器人结构紧凑、体积小、重量轻.采用了微控制器和PC机两级控制体系,两级间采用蓝牙通讯.实验结果验证链形机器人具有较强的越障能力,能爬越楼梯;环形机器人具有高速及路面适应能力强的特点.

     

    Abstract: A modular reconfigurable tracked micro-robot is proposed.Each single micro-module can run separately,and several micro-modules can be reconfigured into a chain-shaped robot or a loop-shaped robot.The robot is compact,small and light.A hierarchical control architecture is adopted,which comprises of a microprocessor level and a PC level and communicates through blue-tooth between two levels.Experiments verify that the chain-shaped robot has a strong obstacleclimbing capability,and can climb stairs;and that speed and adaptability of the loop-shaped robot are good.

     

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