控制機(jī)器人行走設(shè)計【含圖紙】
喜歡就充值下載吧。資源目錄里展示的全都有,下載后全都有,請放心下載,【QQ:1304139763 可咨詢交流】=喜歡就充值下載吧。資源目錄里展示的全都有,下載后全都有,請放心下載,【QQ:1304139763 可咨詢交流】=喜歡就充值下載吧。資源目錄里展示的全都有,下載后全都有,請放心下載,【QQ:1304139763 可咨詢交流】=
中國地質(zhì)大學(xué)長城學(xué)院2012屆畢業(yè)設(shè)計控制機(jī)器人行走設(shè)計摘 要本課題選用輪式作為機(jī)器人平臺設(shè)計研究,通過特殊的運動機(jī)構(gòu)設(shè)計,僅通過兩個電機(jī)的控制即可實現(xiàn)機(jī)器人的全方位運動,且結(jié)構(gòu)簡單,拆裝方便,易于實現(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),控制車輪的正反轉(zhuǎn),實現(xiàn)機(jī)器人全方位的行走。在兩輪的內(nèi)側(cè)各有一個掛籃與空心管固定為一體,掛籃內(nèi)裝有蓄電池塊,既可作為動力源,還可以當(dāng)作配重塊。掛籃與空心管通過螺絲聯(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)場情況。通過遙控控制電機(jī)的轉(zhuǎn)向,可輕松實現(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)動方式,通過遙控電機(jī)的轉(zhuǎn)向,雙輪機(jī)器人能自如地完成直線、圓弧運動,最高運動速度達(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運動。設(shè)計時特意采用弧形空心管,大大提高了機(jī)器人的底盤,使得該機(jī)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(jī)器人在國內(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)用價值。關(guān)鍵詞: 超輕型機(jī)器人輪式平臺設(shè)計步進(jìn)電機(jī) the type platform of light robotThis 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 robots 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 robots 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11 緒 論11.1 課題研究目的11.2 課題研究意義21.3 國內(nèi)外發(fā)展現(xiàn)狀21.3.1國內(nèi)輕型機(jī)器人研究現(xiàn)狀21.3.2國外輕型機(jī)器人研究成果52 課題方案設(shè)計1021步進(jìn)電機(jī)的特點1121步進(jìn)電機(jī)具有如下特點:11212步進(jìn)電機(jī)主要參數(shù)及性能指標(biāo)1222 設(shè)計方案1223 受力分析1324 設(shè)計校核153 功能實現(xiàn)183.1 機(jī)器人的各項參數(shù)183.2 機(jī)器人的功能193.3 遙控控制功能的實現(xiàn)21331控制器單元的選型22332單片機(jī)的確定23333 單片機(jī)的最小系統(tǒng)電路27334 兩個步進(jìn)電機(jī)控制電路28334 主控制電路圖294 結(jié) 論303
收藏
編號:17643459
類型:共享資源
大小:1.22MB
格式:ZIP
上傳時間:2020-11-27
40
積分
- 關(guān) 鍵 詞:
-
含圖紙
控制
節(jié)制
機(jī)器人
行走
設(shè)計
圖紙
- 資源描述:
-
喜歡就充值下載吧。。。資源目錄里展示的全都有,,下載后全都有,,請放心下載,【QQ:1304139763 可咨詢交流】=====================
喜歡就充值下載吧。。。資源目錄里展示的全都有,,下載后全都有,,請放心下載,【QQ:1304139763 可咨詢交流】=====================
喜歡就充值下載吧。。。資源目錄里展示的全都有,,下載后全都有,,請放心下載,【QQ:1304139763 可咨詢交流】=====================
展開閱讀全文
- 溫馨提示:
1: 本站所有資源如無特殊說明,都需要本地電腦安裝OFFICE2007和PDF閱讀器。圖紙軟件為CAD,CAXA,PROE,UG,SolidWorks等.壓縮文件請下載最新的WinRAR軟件解壓。
2: 本站的文檔不包含任何第三方提供的附件圖紙等,如果需要附件,請聯(lián)系上傳者。文件的所有權(quán)益歸上傳用戶所有。
3.本站RAR壓縮包中若帶圖紙,網(wǎng)頁內(nèi)容里面會有圖紙預(yù)覽,若沒有圖紙預(yù)覽就沒有圖紙。
4. 未經(jīng)權(quán)益所有人同意不得將文件中的內(nèi)容挪作商業(yè)或盈利用途。
5. 裝配圖網(wǎng)僅提供信息存儲空間,僅對用戶上傳內(nèi)容的表現(xiàn)方式做保護(hù)處理,對用戶上傳分享的文檔內(nèi)容本身不做任何修改或編輯,并不能對任何下載內(nèi)容負(fù)責(zé)。
6. 下載文件中如有侵權(quán)或不適當(dāng)內(nèi)容,請與我們聯(lián)系,我們立即糾正。
7. 本站不保證下載資源的準(zhǔn)確性、安全性和完整性, 同時也不承擔(dān)用戶因使用這些下載資源對自己和他人造成任何形式的傷害或損失。
裝配圖網(wǎng)所有資源均是用戶自行上傳分享,僅供網(wǎng)友學(xué)習(xí)交流,未經(jīng)上傳用戶書面授權(quán),請勿作他用。