基于HT32F1765机械臂小车设计

Design of Mechanical Arm Moving Car Based on HT32F1765

提出了基于WIFI和NRF24L01无线控制的机械臂小车,其上加装的是6自由度机械臂。该系统的主控芯片采用高性能32位微控制器HT32F1765单片机,具有控制方式简单、多样化,并适合不同的人群使用。在控制算法上采用用PID算法对电机舵机进行控制,利用D-H坐标建模对机械臂运动轨迹进行规划处理,在上位机终端集成了视频监控、实时控制、3D模型仿真、语音控制等功能,从而达到良好的控制效果。

A mechanical arm moving car system based on WiFi and NRF24L01 wireless control was proposed, which was fitted with a six degree of freedom （6-DOF） manipulator. The high-performance 32-bit microcontroller HT32F1765 MCU was used for the system＇s master chip, with a simple control, diversified, and suitable for different groups of people to use. In the control algorithm, proportion integration differential （PID） algorithm was used to control the motor steering gear. The motion trajectory of the mechanical arm was planned by D-H coordinate modeling. The functions of video monitoring, real-time control, three dimension （3D） model simulation and voice control are integrated in the host computer terminal, so as to achieve good control effect.