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中國(guó)地質(zhì)大學(xué)長(zhǎng)城學(xué)院2012屆畢業(yè)設(shè)計(jì)
控制機(jī)器人行走設(shè)計(jì)
摘 要
本課題選用輪式作為機(jī)器人平臺(tái)設(shè)計(jì)研究，通過(guò)特殊的運(yùn)動(dòng)機(jī)構(gòu)設(shè)計(jì)，僅通過(guò)兩個(gè)電機(jī)的控制即可實(shí)現(xiàn)機(jī)器人的全方位運(yùn)動(dòng)，且結(jié)構(gòu)簡(jiǎn)單，拆裝方便，易于實(shí)現(xiàn)輕型化。其結(jié)構(gòu)用空心管將兩輪聯(lián)接成“工”字形狀，兩輪軸心處各有一內(nèi)置步進(jìn)電機(jī)，控制車(chē)輪的正反轉(zhuǎn)，實(shí)現(xiàn)機(jī)器人全方位的行走。在兩輪的內(nèi)側(cè)各有一個(gè)掛籃與空心管固定為一體，掛籃內(nèi)裝有蓄電池塊，既可作為動(dòng)力源，還可以當(dāng)作配重塊。掛籃與空心管通過(guò)螺絲聯(lián)接成一體，方便拆卸。在空心管的中端有一攝像頭，用于觀察反饋現(xiàn)場(chǎng)情況。通過(guò)遙控控制電機(jī)的轉(zhuǎn)向，可輕松實(shí)現(xiàn)機(jī)器人的前進(jìn)，后退，及原地轉(zhuǎn)向。掛籃底部裝有蓄電池塊，能夠起到偏重塊作用，保證了輪式機(jī)器人的在平路或斜坡上都能夠保持靜止?fàn)顟B(tài)。該機(jī)構(gòu)采用了一種全新、高效的內(nèi)驅(qū)動(dòng)方式，通過(guò)遙控電機(jī)的轉(zhuǎn)向，雙輪機(jī)器人能自如地完成直線、圓弧運(yùn)動(dòng)，最高運(yùn)動(dòng)速度達(dá)到了5m/s，能夠爬上30度的斜坡，并且能夠?qū)崿F(xiàn)原地自轉(zhuǎn)。在靜止?fàn)顟B(tài)下輪式機(jī)器人能夠沿任意方向啟動(dòng)運(yùn)動(dòng)。設(shè)計(jì)時(shí)特意采用弧形空心管，大大提高了機(jī)器人的底盤(pán)，使得該機(jī)器人行走可以直接通過(guò)障礙物，具有良好的過(guò)障礙能力，這在條件惡劣的道路上行走尤其重要。該輪式機(jī)器人在國(guó)內(nèi)外還處于剛剛起步階段，其前景廣闊，適用性較廣，在教學(xué)、科研、野外作業(yè)、民用運(yùn)輸方面有著廣泛的應(yīng)用前景，在反恐及其它尖端領(lǐng)域具有重大的應(yīng)用價(jià)值。
關(guān)鍵詞： 超輕型機(jī)器人 輪式 平臺(tái)設(shè)計(jì) 步進(jìn)電機(jī)
the type platform of light robot
This lesson all-directions sport for control for choosing using a type be used as the robot platform the design the research, passing the design of special sport organization, only passing two electrical engineerings can immediately realizing robot, and the construction is simple, and the pack convenient, apt to realize the light Its construction take care of to connect two s with hollow arc-shaped “ work" word shape, two axle hearts are each to have a the inside place an into the electrical engineering, control felloe positive and negative turn, realize the robot the all-directions to run about. In two rounds of seamy sides each reach a hang the basket to fix to integral whole with hollow tube, and hang an inside to pack to have the storage battery piece, since can be used as the motive , and can still regard as the heavy piece of Hang the basket to pass the screw with hollow tube to connect the integral whole, convenient unload. In the hollow tube of inside carry to have a the resemble the head, and used for to observe the circumstance of vera the spot. Pass to control from a distance to control the turning of electrical engineering the direction, relaxed realize the robot's headway, retreat, and originally turn direction. Hang a bottom to pack to have the storage battery piece, and can rise to over-emphasize a function, and guarantee the round the type robot on the even road or slope to can keep the static appearance. The inside that that organization adopted is an all new, efficiently move the way, and pass the turning of remote control electrical engineering the direction, double the slope for round robot can from if ground completing the straight line, arc the sport, tallest sport the speed come to 5 m/ s, can climbing ascending 30 degrees, and can realize to originally rotate. Under the quiet appearance round type robot can along arbitrarily the direction start the sport. |Design hour the adopt the hollow tube of arc-shaped, and consumedly increased the robot's bed rocked, and the making that robot to run about can directly pass the stumbling block, and have the good the obstacle ability, and this is the bad road in the term to up north route to walk particularly important. This type robot at domestic and international still be placed in just the start stage, its foreground is vast, applicability than wide, in the teaching, section , open country the homework, public conveyance aspect have got the extensive and applied foreground, and fear in the anti and the other and sophisticated realm have important of the application is worth a.
Key word: the type platform of light robot round design the application Stepper motor
目錄
摘 要 1
1 緒 論 1
1.1 課題研究目的 1
1.2 課題研究意義 2
1.3 國(guó)內(nèi)外發(fā)展現(xiàn)狀 2
1.3.1．國(guó)內(nèi)輕型機(jī)器人研究現(xiàn)狀 2
1.3.2．國(guó)外輕型機(jī)器人研究成果 5
2 課題方案設(shè)計(jì) 10
2．1步進(jìn)電機(jī)的特點(diǎn) 11
2．1．１步進(jìn)電機(jī)具有如下特點(diǎn)： 11
2．1．2步進(jìn)電機(jī)主要參數(shù)及性能指標(biāo) 12
2．2 設(shè)計(jì)方案 12
2．3 受力分析 13
2．4 設(shè)計(jì)校核 15
3 功能實(shí)現(xiàn) 18
3.1 機(jī)器人的各項(xiàng)參數(shù) 18
3.2 機(jī)器人的功能 19
3.3 遙控控制功能的實(shí)現(xiàn) 21
3．3．1控制器單元的選型 22
3．3．2單片機(jī)的確定 23
3．3．3 單片機(jī)的最小系統(tǒng)電路 27
3．3．4 兩個(gè)步進(jìn)電機(jī)控制電路 28
3．3．4 主控制電路圖 29
4 結(jié) 論 30
3