摘要
在各种异构的沙基机器人中,C形腿在松软的沙基中抓地能力最好。为了分析C形腿轮在沙基运动时受力情况,设计了C形腿环形实验台。利用地面动力学理论对C形腿上的应力传感器安装位置进行了合理性分析、设计。利用最新的PC技术与PCI-6143多功能数据采集卡搭建了高速数据采集硬件平台,并以LabVIEW作为软件开发平台,采用模块化编程思想,实现了对多传感器数据的高速同步检测。该实验台既可在沙漠中做机器人步态测试,也可做沙槽实验为C形腿轮在沙基中受力分析提供实验数据。
In a variety of heteroid sand-based robots, C-legs grip best in the soft sand base. In order to analyze the stress of the C-leg wheels during the movement of the sand base, a C-leg loop experiment platform is de- signed. Based on the theory of ground dynamics, the installation position of stress sensors on C-leg is analyzed and designed rationally. The high-speed data acquisition hardware platform is built by using the latest PC tech- nology and PCI-6143 multi-function data acquisition card, and LabVIEW is used as the software development platform. In addition, the multi-sensor data high-speed synchronization detection is achieved by using modular programming ideas. The device can do the robot gait test in the desert, and do the sand tank experiments for the C-leg in the sand base of the stress analysis to provide test data.
作者
胡钢墩
郭辉
雷宁
HU Gang-dun GUO Hui LEI Ning(School of Physics and Electronic-Electrical Engineering, Ningxia University, Yinchuan 750021, China Ningxia Key Laboratory of Intelligent Sensing for Desert Information, Yinehuan 750021, China)
出处
《测控技术》
CSCD
2017年第9期127-130,共4页
Measurement & Control Technology
基金
国家自然科学基金资助项目(61463043)
