气动爬绳机器人的研究分析.doc

摘 要 ? ???本文提出了一种以气压驱动的蠕动爬绳机器人的设计方案，该方案以气缸的运动带动机器人夹持机构实现对绳索的夹紧。然后通过爬升气缸的收缩和伸长来实现机器人的爬升动作。系统控制部分采用AT89S52单片机为控制核心，为了方便对机器人的控制，通过无线遥控模块对机器人的运动状态进行遥控。 ? ? ? 关键词：爬绳；蠕动；机器人 ? ? ? ? ? ? ? ABSTRACT ? The paper presents a design scheme of robot which is driven by gas. In this scheme,,the crank structure is driven by the piston clutches the rope.Two crank structure are approached by a latex driver ,which can felx under pressure .When the crank structure and latex driver operate together,robot can squirms up and down .The MCU AT89s52 is used as the core of the control system.In order to control the