六足蜘蛛爬行机器人系统组成和越障性能分析

针对环境探测中对信息实时获取和机器人优越性能的需求,介绍了所设计的六足蜘蛛爬行机器人的系统组成及对越障性能的分析计算。机器人由6条机械腿和机器人主体构成,以Stm32f407芯片为主控制器,并使用PID算法来控制整个机器人保持平衡,通过图像采集系统完成对操作指令的实时反应。基于重心超越学,通过理论研究、质心分析和数值计算对机器人的越障能力进行分析,得出机器人攀爬楼梯最大高度及跨越横沟最大宽度的关系式。研究为爬行机器人的设计提供了进一步依据。

Analysis of the System Composition and the Obstacle Ability of Hexapod Spider Crawling Robot

In view of the demand for real-time acquisition of information and the superior performance of the robot in environmental detection,the system composition of the designed hexapod spider crawling robot and the analysis and calculation of the obstacle performance are introduced.The robot is composed of six mechanical legs and robot bodies,based on the Stm32f407 chip as the main controller,and uses the PID algorithm to control the whole robot to keep the balance,and completes the real-time response to the operation instruction through the image acquisition system.Based on the center of gravity transcendence,through theoretical study,centroid analysis and numerical calculation,the ability of the robot obstacle surmounting is analyzed,and the maximum height of the climbing staircase and the maximum width of crossing the transverse groove are obtained.This study provides a further basis for the design of a crawling robot.