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Remote-controlled omnidirectional mobile manipulator and control method thereof

An omnidirectional movement and manipulator technology, applied in the field of remote control manipulators, can solve the problems of large size, poor flexibility, poor controllability, etc., and achieve the effect of strong flexibility

Inactive Publication Date: 2015-10-28
HEILONGJIANG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The present invention aims to solve the problems that the existing mobile robots are large in size, poor in flexibility of directional walking, poor in maneuverability, and unable to realize multi-node networking

Method used

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  • Remote-controlled omnidirectional mobile manipulator and control method thereof
  • Remote-controlled omnidirectional mobile manipulator and control method thereof
  • Remote-controlled omnidirectional mobile manipulator and control method thereof

Examples

Experimental program
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Effect test

specific Embodiment approach 1

[0030] Specific implementation mode one: refer to figure 1 and figure 2 Specifically explain this embodiment, a remote control omnidirectional mobile manipulator described in this embodiment, it includes a mobile mechanical device and a liquid crystal display module 20,

[0031] The mobile mechanical device includes an infrared obstacle avoidance module 3, a first motor drive module 4, a second motor drive module 5, a first DC deceleration motor 6, a second DC deceleration motor 7, a third DC deceleration motor 8, and a fourth DC deceleration motor Motor 9, the first omnidirectional wheel 16 with coupling, the second omnidirectional wheel 17 with coupling, the third omnidirectional wheel 18 with coupling, the fourth omnidirectional wheel with coupling Omni-directional wheel 19 and three-degree-of-freedom grabbing manipulator,

[0032] The three-degree-of-freedom grabbing manipulator includes a first steering gear 10, a second steering gear 11, a third steering gear 12, a fi...

specific Embodiment approach 2

[0057] Specific embodiment 2: This embodiment is a further description of a remote control omnidirectional mobile manipulator described in specific embodiment 1. In this embodiment, the first omnidirectional wheel (16) with a shaft coupling, the second The outer diameter of the omnidirectional wheel (17) that has shaft coupling, the 3rd omnidirectional wheel (18) that has shaft coupling and the 4th omnidirectional wheel (19) that has shaft coupling is all 40mm, and inner The holes are all 8mm, the width is 29mm, and the materials are all nylon.

[0058] The matching inner diameter of the coupling is 6mm.

[0059] The first steering gear (10), the second steering gear (11) and the third steering gear (12) are all realized by using a steering gear whose model is MG995.

[0060] In this embodiment, the reduction gear set is driven by a motor, and its terminal (output end) drives a linear proportional potentiometer for position detection. Compare it with the input control pulse ...

specific Embodiment approach 3

[0066] Specific implementation mode three: refer to Figure 3 to Figure 6 This embodiment is described. This embodiment is a further description of the remote control omnidirectional mobile manipulator described in the first embodiment. In this embodiment, the first motor drive module 4 and the second motor drive module 5 have the same structure. The first motor drive module 4 includes a constant voltage constant current bridge 2A driver chip of model L298N, capacitor C1, capacitor C2, electrolytic capacitor C3, resistor R11, resistor R12, No. 1 diode D1, No. 2 diode D2, and No. 3 diode D3, No. 4 diode D4, No. 5 diode D5, No. 6 diode D6, No. 7 diode D7 and No. 8 diode D8,

[0067] The two control signal input terminals of the first motor drive module 4 serve as pins 5 to 8 of the constant voltage and constant current bridge 2A driver chip whose model is L298N and pins of the constant voltage and constant current bridge 2A driver chip whose model is L298N. Pins 10 to 12, pin 8...

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Abstract

The invention provides a remote-controlled omnidirectional mobile manipulator and a control method thereof, and relates to the field of a remote-controlled manipulator. The invention aims at solving the problems that a conventional mobile robot is large in size and poor in flexibility of directional walking and controllability and can not realize multi-node networking. A three-axis acceleration sensor of a remote controller is swung and collects three-axis motion data; a second microprocessor is used for sending the three-axis motion data to a first microprocessor; the first microprocessor is used for controlling four omnidirectional wheels according to the received three-axis motion data, so that the remote-controlled omnidirectional mobile manipulator moves; a key is pressed and sends a motion control signal to the first microprocessor through the second microprocessor, the first microprocessor controls an infrared obstacle avoidance module to detect the position of an obstacle and controls a three-degree-of-freedom grabbing manipulator to swing and grab the obstacle according to the position of the obstacle and the received motion control signal. The swinging remote-controlled device can be used for remotely controlling the manipulator.

Description

technical field [0001] The invention relates to a remote control omnidirectional mobile manipulator. It belongs to the field of remote control manipulators. Background technique [0002] Mobile robot has become an important branch in the field of robotics research. In many applications such as military dangerous operations, industry and service industries, robots are required to receive control commands through wireless communication in real time, and move flexibly and freely at the desired speed, direction and trajectory. At present, in developed countries such as the United States and Japan, robots have been used in multiple service areas such as shopping guides, item transfers, home services, exhibition hall security, and large-scale cleaning. According to the above-mentioned application occasions of the mobile robot, it is required to have the performance of being able to move freely and flexibly in narrow and crowded places, which has also become a difficult problem i...

Claims

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Application Information

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IPC IPC(8): B25J9/00B25J9/16
Inventor 王丁孙书利
Owner HEILONGJIANG UNIV
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