【摘要】 研制了一种面向微操作的微小型机器人,并开发了其无缆化控制系统。该机器人机械本体由基于宏／微复合驱动的移动定位平台和3自由度球基微操作器构成。机器人总体尺寸不超过90 mm×70 mm×60 mm。机器人的宏动部分采用轮式驱动,选用轴直径为3 mm的微型电动机,运动速度可达100 mm／s,定位精度0．5 mm,运动分辨率0．1mm。微动部分基于尺蠖蠕动原理通过压电陶瓷和电磁体配合,速度可达200μm／s,定位精度50μm,运动分辨率2 μm。球基微操作器基于黏滑原理利用3根四分压电陶瓷管驱动,可实现旋转和俯仰运动,运动分辨率可达0．001。。所有驱动电路均集成到机器人本体内,采用锂聚合物电池供电,通过蓝牙模块和上位机的图像处理系统通信。嵌入式控制软件将机器人的运动全部分解为简单运动,控制算法采用多线程方式,保证了驱动控制的实时性,并且具有很强的抗干扰能力。更多还原

【Abstract】 A miniature mobile robot facing on precision manipulation is developed and the wireless control system is designed. This robot is composed of moving allocation unit basing on macro/micro dual moving manner and spherical manipulator with three degrees of freedom. The whole robot occupies a volume of 90 mm×70 mm×60 mm. In the macro-moving manner, using the micro motor with the diameter of 3 mm, the robot can move at high speed up to 100 mm/s. And the positioning accuracy is up to 0.5 mm as well as the moving resolution is 0.1 mm. In the micro-moving manner, according to prin- ciple of inchworm, the robot can move at a speed of 200 μm/s with 50μm positioning accuracy and 2μm resolution. Three pizeo-ceramic tubes basing on the principle of stick-slip drive the spherical manipulator. The manipulator can rotate around z-axis or move up and down. The accuracy of spherical manipulator is 0.001°. All driving circuits are integrated in the body of robot. Two polymeric lithium-metal cells are selected as the power source. The robot communicates with the image processing system through a blue tooth model. For convenient control, the locomotion of robot is decomposed several sample motion modes. By applying the multiple threads technology to program, the performance of real time operation is good.更多还原