摘要
根据仿生学原理,观察六足昆虫的运动,抽象、优化出理想模型,以此为基础设计和制作出机械结构。以AT89C52单片机为控制器,使用接触传感器、光反射传感器和声音传感器等开关量,实现与直流电机的闭环控制。设计制作出灵活、稳定美观的六足机器人。该机器人按三角步态行走,实现诸如直线行走、倒退、慢速转弯、快速转弯、越障等基本功能,并能寻黑线行走。介绍了该机器人三角步态的行走原理、各种机构的优缺点和选用原则、控制方法、程序编写思想等。
The fabrication of a hexapod bionic robot was described, which is controlled by AT89C52 microprocessor, can walk based on bionic principle, and has some advantages such as simple, active movements, harmony in walking and etc. This robot has some abilities such as linear walking, turning, avoiding barriers, and tracking blackline walking etc. The structure, control system and control algorithm of this robot were explained.
出处
《机床与液压》
北大核心
2008年第B07期365-368,397,共5页
Machine Tool & Hydraulics
基金
海南省教育厅高校教学科研基金项目(Hjsk200743)
