主火炬自动机器人登台机构及其控制系统.pdf

II Abstract The thesis’ subject is “Climbing the Greet Wall, Lighting the fire”. Robot is a machine that can make program under the computer control. It is an artificial intelligence. The thesis’ title is “Torch Main Automatic Machine’s climbing mechanism and control system”. On the first stage, I search for a lot of data about research meaning , background, the tactics analysis, design plan. Then I find out the issues and troubles. The next stage is the main stage. First I do the totality design, and I make every part modeling. Then I select four wheels mechanism because they can climb the Great Wall when they are driven by step motors with big torsion. I select CCD picture sensors as the line-tracking install and counter in the ling-tracking system. The core of control system is siemens PLC-300, I do meticulously design combining with the f