摘要爬壁机器人是机器人研究的领域的一个重要分支。随着科技与社会建设的快速发展，爬壁机器人被广泛运用于社会各行各业。在本设计的研究工作中，首先深入学习并了解了机器人系统设计的相关知识。机器人体系结构是机器人系统设计方法的逻辑基础与结构模型。建立机器人体系结构，是整个机器人系统设计的基础。合理的机器人体系结构是机器人系统整体行为和整体性能的关键。目前主流的单机器人体系结构包括分层式和包容式体系结构。实验中最终采用包容式体系结构。
硬件上，初步了解了串口的相关知识。RS-232是标准串行通讯协议,其后还发展出了RS-422及RS-485标准。RS-485接口被广泛运用于长距离传输以及多点互连，RS-232一般用于15m以内通信。单RS-485相较现在的CAN总线技术存在传输率低、单主网络等缺点。CAN总线是现在国际上运用最广泛的现场总线之一。19557
软件上，使用VC6.0设计主控程序，通过MFC进行包装，设计出满足爬壁机器人特殊要求的友好人机交互程序。
关键字：体系结构，系统架构，模块，操控端，机器人端；
毕业论文设计说明书（论文）外文摘要
Title Climbing robot systems and ergonomic design
Abstract
Climbing robot is an important branch of research in the field of robotics . With the rapid development of technology and social construction , wall-climbing robots are widely used in all walks of life . In the study of this design , the first in-depth study and understanding of the relevant knowledge robot system design. Robot architecture is the foundation and structure of the logical model of the robot system design methods. Build a robot architecture is the foundation of the whole robot system design. Rational robot robot system architecture is the key to the overall behavior and overall performance . The current mainstream single robot architecture includes hierarchical and inclusive architecture . Experiment finally adopted an inclusive architecture .
In terms of hardware, a preliminary understanding of serial knowledge . RS-232 is a standard serial communication protocol , and subsequently also developed a RS-422 and RS-485 standards. RS-485 interface is widely used in long-distance transmission and multi -point interconnect , RS-232 communication is generally used within 15m . Compared to a single RS-485 CAN bus technology now exists shortcomings transmission rate, single-master network . CAN bus is internationally one of the most widely used field bus now .
About software , using VC6.0 design master program , through the MFC packaging, wall-climbing robots designed to meet the special requirements of the friendly human-computer interaction process.
Keywords: architecture，system framework，module，control end，robot end
目 次
1 绪论 1
1.1 机器人发展概述 1
1.2 机器人系统结构的研究 2
1.3 爬壁机器人的特点及发展 3
2. 移动机器人系统架构 7
2.1 机器人系统架构方式 7
2.2 总线结构（RS-485,CAN） 9
3. 爬壁机器人的系统架构设计 12
3.1 总体系统架构 12
3.2 操控端系统架构 15
3.3 机器人端系统架构 17
4. 人机工程设计 19
4.1 MFC平台 19
4.2 人机交互平台设计 20
5. 实体机 21
5.1 硬件介绍 22
5.2 实体图 23
致 谢 24
参考文献25
1 绪论
21世纪，人类已经进入信息化时代，机器人将是人类在各项领域上工作和学习的重要帮手。计算机技术的不断进步和发展使机器人技术的发展一次次达到一个新水平。本实验主要针对爬壁机器人系统展开研究。 VC爬壁机器人系统及人机工程设计:http://www.youerw.com/jisuanji/lunwen_10966.html