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中國地質大學長城學院2012屆畢業(yè)設計
控制機器人行走設計
摘 要
本課題選用輪式作為機器人平臺設計研究，通過特殊的運動機構設計，僅通過兩個電機的控制即可實現機器人的全方位運動，且結構簡單，拆裝方便，易于實現輕型化。其結構用空心管將兩輪聯接成“工”字形狀，兩輪軸心處各有一內置步進電機，控制車輪的正反轉，實現機器人全方位的行走。在兩輪的內側各有一個掛籃與空心管固定為一體，掛籃內裝有蓄電池塊，既可作為動力源，還可以當作配重塊。掛籃與空心管通過螺絲聯接成一體，方便拆卸。在空心管的中端有一攝像頭，用于觀察反饋現場情況。通過遙控控制電機的轉向，可輕松實現機器人的前進，后退，及原地轉向。掛籃底部裝有蓄電池塊，能夠起到偏重塊作用，保證了輪式機器人的在平路或斜坡上都能夠保持靜止狀態(tài)。該機構采用了一種全新、高效的內驅動方式，通過遙控電機的轉向，雙輪機器人能自如地完成直線、圓弧運動，最高運動速度達到了5m/s，能夠爬上30度的斜坡，并且能夠實現原地自轉。在靜止狀態(tài)下輪式機器人能夠沿任意方向啟動運動。設計時特意采用弧形空心管，大大提高了機器人的底盤，使得該機器人行走可以直接通過障礙物，具有良好的過障礙能力，這在條件惡劣的道路上行走尤其重要。該輪式機器人在國內外還處于剛剛起步階段，其前景廣闊，適用性較廣，在教學、科研、野外作業(yè)、民用運輸方面有著廣泛的應用前景，在反恐及其它尖端領域具有重大的應用價值。
關鍵詞： 超輕型機器人 輪式 平臺設計 步進電機
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 國內外發(fā)展現狀 2
1.3.1．國內輕型機器人研究現狀 2
1.3.2．國外輕型機器人研究成果 5
2 課題方案設計 10
2．1步進電機的特點 11
2．1．１步進電機具有如下特點： 11
2．1．2步進電機主要參數及性能指標 12
2．2 設計方案 12
2．3 受力分析 13
2．4 設計校核 15
3 功能實現 18
3.1 機器人的各項參數 18
3.2 機器人的功能 19
3.3 遙控控制功能的實現 21
3．3．1控制器單元的選型 22
3．3．2單片機的確定 23
3．3．3 單片機的最小系統(tǒng)電路 27
3．3．4 兩個步進電機控制電路 28
3．3．4 主控制電路圖 29
4 結 論 30
3