| 摘要: |
| :目的 针对在自动化搬运领域,传统机器人常面对复杂地形适应性和货物限定位置的问题,提出了一种适应
多样复杂地形的自主搬运机器人。 方法 首先根据月球车的特点,采用全向移动底盘和五自由度搬运平台的整合,
有效提升了在多变地形中的适应性和货物搬运能力;其次对搬运平台整体进行设计,包括平台升降结构设计、搬运
平台结构设计以及夹爪设计,并根据货物搬运结构工作原理进行搬运实验。 然后控制系统采用了分层的硬件架
构,上位机利用 Robot Operating System 作为开发框架,搭配应用同步定位与建图(SLAM)技术,优化导航和搬运策
略,下位机根据从串口接收的上位机指令进行任务分配和执行,利用自调整的蒙特卡洛导航技术进行导航算法设
计,确定关键工作参数,充分展示机器人操作效率和适应性。 结果 为了保证机器人的工作性能以及参数的准确性,
利用 Gazebo 模拟程序进行仿真实验,预测机器人在真实环境中的性能表现,实验验证了机器人在多种环境下高效
导航的能力。 结论 研究结果表明:该机器人具有显著的搬运效率提升和减少人工干预的优势,为自动化搬运系统
提供了重要技术支持。 |
| 关键词: 自主搬运机器人 复杂地形适应性 全向移动底盘 同步定位与建图(SLAM) 动态环境 |
| DOI： |
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| Design and Testing Research of Autonomous Handling Robots in Multi-condition Environments |
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WANG Yong GUO Kai
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School of Mechanical Engineering University of Shanghai for Science and Technology Shanghai 200093 China
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| Abstract: |
| Objective Aiming at the problems of complex terrain adaptability and limited position of goods often faced by
traditional robots in the field of automatic handling an autonomous handling robot adapted to diverse and complex terrain
was proposed. Methods Firstly according to the characteristics of the lunar rover an omnidirectional mobile chassis and
a five-degree-freedom handling platform were integrated to effectively improve the adaptability and cargo handling ability in
variable terrains. Secondly the overall design of the handling platform was carried out including the design of the lifting
structure the handling platform structure and the clamp design followed by handling experiments based on the working
principle of the cargo handling structure. The control system employed a layered hardware architecture. The upper
computer used the Robot Operating System ROS as the development framework combined with Simultaneous Localization
and Mapping SLAM technology to optimize navigation and handling strategies. The lower computer allocated and executed
tasks based on the instructions received from the upper computer through the serial port. The self-adjusting Monte Carlo
navigation technology was used to design navigation algorithms determine key working parameters andthe efficiency and adaptability of the robot operation. Results Finally to ensure the robot?? s working performance and the
accuracy of parameters simulation experiments were conducted using the Gazebo simulation program to predict the
performance of the robot in real environments. The experiments verified the robot?? s efficient navigation ability in various
environments. Conclusion The research results indicate that the robot has significant advantages in improving handling
efficiency and reducing manual intervention providing important technical support for automatic handling systems. fully demonstrate |
| Key words: autonomous handling robot adaptability to complex terrains omnidirectional mobile chassis simultaneous
localization and mapping SLAM dynamic environment |
