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Research on Control System on Flexible Gecko Robot

Author: YuShuLin
Tutor: MeiTao
School: University of Science and Technology of China
Course: Detection Technology and Automation
Keywords: Gecko robot Central pattern generator Control system Gait Planning
CLC: TP242
Type: Master's thesis
Year: 2011
Downloads: 112
Quote: 0
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Abstract


Geckos can be fast and flexible in the plane of the different materials to move, such as walls, ceilings. Wall climbing robot modeled the gecko this unique ability crawling robots in the vertical plane and inverted surface crawling, strong environmental adaptability can help even replace humans to complete some incompetent work has broad application prospects has important implications for the development of robot technology. In this paper, a based flexible gecko robot control system design, major research gecko robot gait planning and control system hardware and software design. This paper first introduces the research status of wall-climbing robots, development trends and research significance analysis of home and abroad on the wall-climbing robot adsorbed and mobile research focuses on the research status of the mechanism of adhesion of gecko feet, then outlining bionic gecko robot agency model, robot quadruped symmetric four-link structure, legs, feet bottom made of micro-nano-adhesion arrays. Imitation gecko the robot torso special flexible mechanism, based CPG the gait control study of planning based on the diagonal gait of the robot, the design of a distributed control system for AVR microcontroller as the core controller, mainly including the design of the control system hardware and software design. The hardware design of the control system, including the drive system, the host system and the slave system, respectively Intro principle of the control of the motor, the control method and the various modules of a detailed circuit design. Software design of the control system on - lower machine distributed control method, mainly including the host program design, the slave program design and control signal algorithms resolve host program modules gait planning and data transmission to achieve the main module of the slave program The data reception, data parsing, and the multiplexing control signal occurred. The compilation environment CodeVisionAVR for AVR Studio debugging environment for the design and debugging of various modules of the program. Finally, after the test analysis, In this paper, the design of gecko robot control system to achieve the expected functional requirements, small size, light weight, high control accuracy, good stability, simple control, strong anti-interference, and realize the gecko robot stable crawling on the plane and 30 degree bevel.

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CLC: > Industrial Technology > Automation technology,computer technology > Automation technology and equipment > Robotics > Robot
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