摘要爬壁机器人是一种在垂直壁面工作环境下的自动化机器人设备。它能够很好地将劳动力从高危、复杂的劳作中解放出来，大大地节省劳动力。但是绝大多数研究出的爬壁机器人都是应用于民用生活范畴，在反恐作战和军事领域几乎还是一片空白。建筑立面的复杂性，使得建筑外墙表面纵横起伏，使得爬壁机器人在实际应用中举步文艰。因此，探索壁面越障机构及平面行驶步态控制方法，对于有效提升爬壁速度，适应各种壁面环境有着很重要的实际意义。25513
本文围绕爬壁机器人越障步态控制技术进行了深入的研究和讨论，主要内容如下：
1.    全面介绍了爬壁机器人的研究背景和意义，详细分析国内外研究现状及爬壁机器人的发展趋势，并简述了文章的主要研究内容和组织结构。
2.    模拟双足动物步态，利用分段函数给出了爬壁机器人在操作空间中步态设计方法。其主要创新点是将机器人抬腿高度离散化几种尺寸，于是，5自由度运动系统实质变成两个互不耦合运动控制问题，而其他3自由度的伺服运动由系统自主完成。如果配上图形化控制终端，这使得系统操作大大简化。
3.    设计通信协议。整个PC机和机器人的通信过程，是通过RS232接口连接并交换数据的。然而交换的数据只是一些字符串，必须有相应的协议帮助两端理解信息。
4.    实现基于MFC的控制程序。
毕业论文关键字： 爬壁机器人，步态设计，控制系统，仿真实验，MFC
Abstract
Wall-climbing robot is an automated robotic equipment, which is working on the vertical wall. It could save lots of labors from some high-risk and complex works. The most wall-climbing robots are used in the civilian areas, but it’s still almost a blank in the fight against terrorism and the military. The complexity of the building facades, which makes the building's exterior surface aspect and downs, lets wall-climbing robot difficult in practical applications. Therefore, we are researching the institutions across the barrier and the methods controlling plane travel for increasing the crawling speed. There are some very meaningful things for the world.
This paper focuses on the gait-controlling technology of wall-climbing robot in deep study and discussion. Here is the main content of the article:
1.    It comprehensively introduces the background and significance of researching wall-climbing robots, and analyzes research status and development trend of wall-climbing robots, and outlines the main contents and structures of the article.
2.    According to contrast and analysis so many parameters, we design some types of wall-climbing robot path gaits. We select one or more combinations of climbing gaits for the wall-climbing robot.
3.    The design of communication protocols. Entire PC and communication process of the robot is connected via an RS232 interface. However, the data are just some of the string, you must have the protocol to interpret information.
4.    The MFC-based control program.
Keywords:  Wall-climbing robot, Gaits design, Control system, Simulatio，MFC
目录
1.    绪 论    1
1.1.    爬壁机器人课题背景及课题意义    1
1.2.    国内外研究现状分析    2
1.3.    论文组织结构    13
2.    爬壁机器人工作空间分析及步态设计    15
2.1.    复合连杆越障机构工作空间分析    15
2.2.    运动学方程的DH表示    18
2.3.    爬壁机器人运动学逆解    21 机器人智能控制终端方案设计及关键技术研究 :http://www.751com.cn/jisuanji/lunwen_19338.html