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控制机器人行走设计
摘 要
本课题选用轮式作为机器人平台设计研究,通过特殊的运动机构设计,仅通过两个电机的控制即可实现机器人的全方位运动,且结构简单,拆装方便,易于实现轻型化。其结构用空心管将两轮联接成“工”字形状,两轮轴心处各有一内置步进电机,控制车轮的正反转,实现机器人全方位的行走。在两轮的内侧各有一个挂篮与空心管固定为一体,挂篮内装有蓄电池块,既可作为动力源,还可以当作配重块。挂篮与空心管通过螺丝联接成一体,方便拆卸。在空心管的中端有一摄像头,用于观察反馈现场情况。通过遥控控制电机的转向,可轻松实现机器人的前进,后退,及原地转向。挂篮底部装有蓄电池块,能够起到偏重块作用,保证了轮式机器人的在平路或斜坡上都能够保持静止状态。该机构采用了一种全新、高效的内驱动方式,通过遥控电机的转向,双轮机器人能自如地完成直线、圆弧运动,最高运动速度达到了5m/s,能够爬上30度的斜坡,并且能够实现原地自转。在静止状态下轮式机器人能够沿任意方向启动运动。设计时特意采用弧形空心管,大大提高了机器人的底盘,使得该机器人行走可以直接通过障碍物,具有良好的过障碍能力,这在条件恶劣的道路上行走尤其重要。该轮式机器人在国内外还处于刚刚起步阶段,其前景广阔,适用性较广,在教学、科研、野外作业、民用运输方面有着广泛的应用前景,在反恐及其它尖端领域具有重大的应用价值。
关键词: 超轻型机器人 轮式 平台设计 步进电机
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
目录
摘 要 1
1 绪 论 1
1.1 课题研究目的 1
1.2 课题研究意义 2
1.3 国内外发展现状 2
1.3.1.国内轻型机器人研究现状 2
1.3.2.国外轻型机器人研究成果 5
2 课题方案设计 10
2.1步进电机的特点 11
2.1.1步进电机具有如下特点: 11
2.1.2步进电机主要参数及性能指标 12
2.2 设计方案 12
2.3 受力分析 13
2.4 设计校核 15
3 功能实现 18
3.1 机器人的各项参数 18
3.2 机器人的功能 19
3.3 遥控控制功能的实现 21
3.3.1控制器单元的选型 22
3.3.2单片机的确定 23
3.3.3 单片机的最小系统电路 27
3.3.4 两个步进电机控制电路 28
3.3.4 主控制电路图 29
4 结 论 30






