| 从动轮式机器人原理及其控制器设计 |
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| 引用本文： | 林风云,吕恬生. 从动轮式机器人原理及其控制器设计[J]. 机械与电子, 2003, 0(5): 43-45 |
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| 作者姓名： | 林风云 吕恬生 |
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| 作者单位： | 上海交通大学,上海,200030 |
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| 摘 要： | 从驱动原理和腿轮结构上来说，溜冰机器人同一般轮式机器人有较大不同，它属于从动轮式机器人，简化了轮式机器人腿轮结构，增加了轮式机器人灵活性和机动性。溜冰机器人控制器采用分级控制结构，本文对机器人分布式多机通信系统进行了设计。
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| 关 键 词： | 溜冰机器人 机器人结构 多机串行通信 |
| 文章编号： | 1001-2257(2003)05-0043-03 |
| 修稿时间： | 2003-11-11 |
Study on Principles of the Wheel Type Robot and Its Controller |
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| LIN Fengyun,LV Tiansheng. Study on Principles of the Wheel Type Robot and Its Controller[J]. Machinery & Electronics, 2003, 0(5): 43-45 |
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| Authors: | LIN Fengyun LV Tiansheng |
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| Abstract: | This paper discussed the principle ,mechanism condition and applicable leg constructions of the iceskater robot based on the rolling motion, it is a kind of passive wheel type robot which simple the constrution of the legs and exibit high terrain adaptability. A PC and many microcomputers form a distributed control system, and the principle of the controller is also discussed. |
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| Keywords: | iceskater robot mechanism multilevel serial communication |
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