文档介绍：三江学院
本科生毕业设计(论文)
题目六脚柱状甲虫机器人控制系统设计
高职院院(系部) 机械制造及其自动化专业
学生姓名杨磊学号 G095152030
指导老师康杰职称助教
指导老师工作单位三江学院
起讫日期 2012年12月17日-2013年4月5日
摘要
机器人是上个世纪中叶迅速发展起来的具有高新技术的智能化产品,一般都有某种独特的功能,在发达国家,工业机器人己经被广泛使用到生产等领域中。
本文设计六足机器人控制系统,每个腿安装有水平和垂直方向运动的电机,共需要12个电机。论文对控制系统的硬件电路和软件流程给出详细的介绍,硬件部分主要设计单片机的控制系统,使用的是单片机是AT89S52芯片,外围电路增加了时钟电路、复位电路和串行通信电路。软件部分主要是12路舵机控制信号的产生算法。本文主要采用硬件定时软件计数的方法,用一个定时器控制12路PWM信号。同时还根据动物的行走方式,确定了六足机器人的行走步态。并绘制流程图,编写控制程序,然后用Keil C51软件运行程序并仿真。
在论文最后,对全文进行总结,并提出了进一步的研究展望。
关键词:六足步行机器人;单片机控制系统;多路舵机;步态;AT89S52
Abstract
Robot, an intelligent product, which has the high and new-technology, it has been being developed rapidly since the middle of last century. Generally speaking, it has some kinds of unique functions. In developed countries, industry robots have been widely used in the production and other fields.
The thesis is about the design of control system of a hexapod robot, each leg fitted with horizontal and vertical movement of the motor, a total of 12 motors. The thesis on the control system hardware and software gives a detailed introduction. Design of hardware is the control system, using a microcontroller is the AT89S52 chip peripheral circuits to increase the clock circuit, clock circuit and the munication circuit. ponent is about 12 servos control signal generation algorithms. This paper uses the method of hardware timer counter software with a timer control 12 Road PWM signal. It also means walking according to the animal, determined gait hexapod walking robot. And we need to draw flow chart, write programs, and simulate it.
The paper is ended by summarizing the main points and proposing further research prospect.
Key words: Hexapod robot; MCU control system;Multi-steering gear; Gait;AT89S52
目录
第一章绪论 1
1
2
2
2
3
4
第二章六脚柱状甲虫机器人硬件模块设计 5
5
5
舵机 5
8
8
9
9
AT89S52单片机简介 9