小型足球机器人击球子系统设计

Design of the Kicking Subsystem for Small-size Soccer Robot

介绍了在空间紧凑的小型足球机器人上,利用小型直流电磁铁驱动的击球机构实现小型足球机器人击球子系统的机电一体化设计方案.首先介绍了击球子系统的机械结构,然后分析了红外传感器的球检测原理,其次讨论了直流电源升压电路和电磁铁驱动控制电路.最后,对电磁铁击球子系统的击球效果进行了实验,结果表明:小型直流电磁铁击球机构在电压可控的升压电路驱动下,能获得多种击球速度.升压电路和驱动方法可为应用提供借鉴.

An mechatronics-system design case for the kicking subsystem based on small DC solenoid in small-size soccer robot required with compact structure,was presented in this paper.The mechanical frame of the kicking was firstly introduced.Then the schematics of ball detected with infrared detector was analysed.Secondly the electric circuit design for low DC power boost and driving DC solenoid was discussed.Finally the tests for checking the effects of shooting ball were performed.The results show that the kicking system could achieve different speeds for shooting the ball in the game via adjustable high DC voltage obtained from the boost inverter.Furthermore,this DC boost converter could be applied for small DC soleloid in the fields requiring compact working space and intermittent actuation..