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一种爬梯机械人的设计[摘要]在日常生活和生产中经常要将重物搬上楼梯，传统的方法基本是靠人力搬运完成，有时由于重物太重或人手不足而无法搬运，本课题就是为克服这个难题而设计的。本论文主要对爬楼机器人星型轮的传动机构及控制系统进行详细设计。首先介绍了国内外爬楼机器人研究现状，阐明本课题研究的目的、意义。然后进一步介绍了本爬楼机器人总体结构。在深入分析爬楼机构及其攀爬对象的基础上，设计了相对优势较明显的轮组结构爬楼机器人。对机器人小车的运动学模型进行分析，论证小车实现任意曲线运动所包含的自转、直线前进、圆弧前进三个基本运动单元的可行性。引入虚拟样机技术，通过Pro/Engineer三维建模并进行模拟运动仿真。文章最后研究设计了在各种环境下，以单片机C8051F310为核心的爬楼控制系统。在控制系统中，采用超声波传感器的对称排列，获取了自主上楼梯所必须地两个关键参数θ和q；对驱动大功率电机的电路进行分析，设计了更适合大功率，更安全的电机驱动电路，直流马达配合高功率MOSFETⅡ型驱动器。关键词：爬楼机器人；三星轮；MOSFET驱动电路；单片机C8051F310AbstractIIAbstractMovingweightfromupanddownisrequiredinourdailyactivitiesandproductivities,anditwasdonebyhand.Whileitistooheavyorshort–handedtofinishedinsometimes.Thisthesisisdesignedtoovercometheobstaclesanditgivesadetaileddesigningontransmissiondeviceandcontrolsystemofstar-likewheelofstair-climbingrobot.Firstly,itintroducedacurrentsituationofstair-climbingrobotathomeandabroad,clarifiedthepurposesandmeanings,introducedaoverallstructureofstair-climbingrobot.Afterdeeplyanalysisthestair-climbingframeandtheobject,designedawheelsetsstair-climbingrobotwithmoreadvantagesthanothers.Analyzedthekinematicsmodeloftherobotcar,anddemonstratetheavailableofachievinganycurvemovementwiththerotation,straightforward,andarcforward.Robotcanachievetrackcontrollingbasedonspeedmatching.Withtheaidofvirtualprototypingtechnology,throughthe3DsoftwareofSolidWorks,thedynamicanalysisofthestair-climbingrobotiscarriedoutinADAMS.Atlast,thethesisdesignthecontrollersystemwiththecoreofC8051F310basedonruleenvironment，Inthecontrolsystem,withthehelpofarrangedultrasonicsensors,getthetwokeyparametersθandqwhichimportforclimbingstaircaseAnalyzedthecircuitofhigh-powermotordriving,designamoresuitablecircuitthanICL298N.WhichisdcgeneratorwithhighlyefficientdrivingMOSFETⅡ.Keywords：Stair-climbingrobot；Three–starwheels；MOSFETdrivingcircuit；SinglechipmicrocomputerC8051F310目录目录[摘要]-----------------------------------------------------------------------------------------------------------------------------IAbstract------------------------------------------------------------------------------------------------------------------------II第一章引言------------------------------------------------------------------------------------------------------------------11.1课题研究的目的和意义------------------------------------------------------------------------------------------11.2移动机器人的发展概况------------------------------------------------------------------------------------------11.3爬楼梯机器人目前的研究状况---------------------------------------------------------------------------------41.4论文研究的主要内容----------------------------------------------------------------------------------------------6第二章爬楼机器人的总体设计----------------------------------------------------------------------------------------82.1爬楼机器人的设计要求------------------------------------------------------------------------------------------82.2爬楼机器人的总体方案------------------------------------------------------------------------------------------8第三章爬楼机器人传动、轮组及转向机构设计---------------------------------------------------------------113.1爬楼梯机器人小车的执行电机选择-------------------------------------------------------------------------113.1.1技术指标------------------------------------------------------------------------------------------------------113.1.2电机选型-------------------------------------------------------------------------------------------------------113.2爬楼机器人的机构设计-----------------------------------------------------------------------------------------133.2.1机器人小车传动机构设计-------------------------------------------------------------------------------133.2.2传动部件的设计与校核-----------------------------------------------------------------------------------153.2.3爬楼机器人转向机构设计--------------------------------------------------------------------------------193.2.4机器人小车结构设计---------------------------------------------------------------------------------------203.3爬楼机器人小车三维实体建模-------------------------------------------------------------------------------223.3.1Pro/E软件介绍-----------------------------------------------------------------------------------------------223.3.2三维实体建模-------------------------------------------------------------------------------------------------223.4爬楼机器人小车行驶性能分析-------------------------------------------------------------------------------233.4.1可跨越最大垂直障碍高度--------------------------------------------------------------------------------233.4.2最小转弯半径-------------------------------------------------------------------------------------------------24第四章爬楼机器人控制系统设计-----------------------------------------------------------------------------------264.1机器人爬楼梯的控制目标-------------------------------------------------------------------------------------264.2机器人的体系结构及系统组成-------------------------------------------------------------------------------264.3控制系统主要硬件的选择--------------------------------------------------------------------------------------28目录4.3.1单片机的选型-------------------------------------------------------------------------------------------------284.3.2传感器的选择----------------