应用单片机的微型机器人步态时序仿真与实现

Timing Simulation and Implementation of Micro-robot Based on Microcomputer

介绍了一种微小型步行爬壁机器人的结构和驱动方法,讨论了驱动机器人行走的步态时序。在此基础上,研究了应用51单片机实现步态控制时序的方法,设计了以51单片机为控制核心的电路和程序,利用Protues对控制程序进行仿真。实际中以nRF24LE1模块中51单片机为核心,分配机器人控制管脚,完成对微型机器人的控制。仿真和实验结果均表明:设计的步态时序控制方法完全满足设计要求,并能进一步实现对微型机器人的无线控制。

This paper introduced a kind of micro wall-climbing robot structure and driving method, and discussed the driving-timing. On this basis, it researched the control timing method by using 51 single chip computer as the control core, designed the circuit and program, and realized the emulation of the control program using Protues, using the 51 single-chip microcomputer of nRF24LE1 module as the core, distribution of robot control pin, complete control of the micro robot. The results of simula- tion and practical experiment show that the control method meet the design requirements fully and can further realize the wireless control.