A remote control omnidirectional mobile manipulator and its control method

An omnidirectional mobile and manipulator technology, applied in the field of remote control manipulators, can solve the problems of large size, inability to realize multi-node networking, poor flexibility, etc., and achieve the effect of strong flexibility

Inactive Publication Date: 2017-03-08
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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  • A remote control omnidirectional mobile manipulator and its control method
  • A remote control omnidirectional mobile manipulator and its control method
  • A remote control omnidirectional mobile manipulator and its control method

Examples

Experimental program
Comparison scheme
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] Embodiment 2: This embodiment further describes a remote control omnidirectional mobile manipulator described in Embodiment 1. In this embodiment, the first omnidirectional wheel (16) with a coupling, the second The outer diameter of the omnidirectional wheel with coupling (17), the third omnidirectional wheel with coupling (18) and the fourth omnidirectional wheel with coupling (19) are all 40mm, and the inner diameter is 40mm. The holes are all 8mm, the width is 29mm, and the materials are all nylon.

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

[0059] The first steering gear (10), the second steering gear (11) and the third steering gear (12) are all implemented by a steering gear with a model of 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. The potentiometer converts the corner coordinates into a proportional voltage a...

specific Embodiment approach 3

[0066] Specific implementation mode three: refer to Figure 3 to Figure 6 This embodiment is described. This embodiment further describes a remote-controlled 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 and constant current bridge type 2A drive chip with a model of L298N, a capacitor C1, a capacitor C2, an electrolytic capacitor C3, a resistor R11, a resistor R12, a first diode D1, a second diode D2, and a third 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 ends of the first motor drive module 4 are respectively used as pins 5 to 8 of the constant voltage and constant current bridge type 2A driver chip with model L298N and pins of the constant voltage and constant current bridge 2A driver chip with m...

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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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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/00B25J9/16
Inventor 王丁孙书利
Owner HEILONGJIANG UNIV
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