全地形越障运送智能机器人设计OA

The design builds an intelligent robot system based on the STM32 microcontroller as the core,and innovatively integrates multi-modal sensing technology to achieve autonomous navigation and material transportation functions under complex terrain.In hardware architecture design:First,a four-wheel independent suspension chassis with dynamic compensation characteristics was developed,and a smooth crossing of 20 mm steps was achieved through polyurethane shock-absorbing members with adjustable elastic modulus;secondly,a modular robotic arm structure was developed,using T-screw transmission and high-precision steering gear control system to ensure that a spherical object with a diameter of 30 mm completes the grapping-transfer-release operation within a specified time;at the same time,it is equipped with a dual-degree-of-freedom guide wheel mechanism and a laser ranging sensor to achieve adaptive trajectory correction in the tunnel environment.At software algorithm level:It is proposed to build a hybrid control architecture based on fuzzy PID to achieve sub-millimeter path tracking accuracy through a multi-channel gray sensor array;fuse Kalman filter data from the MPU6050 Inertial Measurement Unit(IMU)to establish a robot kinematic model to achieve real-time attitude balance;Integrate OpenMV4 machine vision module for color recognition and target transportation.Field tests show that the system has a high success rate in comprehensive test fields on slopes,gravel pavements and simulated rainfall environments,verifying the effectiveness of the design scheme.