基于ATMEGA32A单片机和HC05的蓝牙信号传输体操机器人设计

Design of Gymnastic Robot with Bluetooth Signal Transmission Based on ATMEGA32A Microcontroller and HC05

体操机器人作为一种观赏性机器人,因其可以完成许多高难度动作,具有很强的娱乐性,越来越受到大众的喜爱。但传统意义上的体操机器人在与外界交互以及类人性的方面还存在很多不足。针对这些问题,笔者设计了一种基于ATMEGA32A单片机和HC05蓝牙串口模块可发送蓝牙信号的类人型体操机器人。在与外界交互方面,采用基于HC05蓝牙串口模块与ATMEGA32A单片机进行串口通信;在动作控制及连贯方面,采用基于ATMEGA32A单片机的舵机控制板为控制系统实现动作库设计、延时以及连贯性试验;在机械结构方面,在满足对称性的前提下提高了机器人的自由度,缩短胯部自由度和踝部自由度之间的距离,使用大扭力舵机解决重心问题,使之更加接近人形。

As a kind of ornamental robot,gymnastic robot is more and more popular with the public because it can complete many difficult movements and is highly entertaining.However,the traditional gymnastic robot still has many shortcomings in terms of interaction with the outside world and humanity.In response to these problems,the author designed a humanoid gymnastic robot based on ATMEGA32A microcontroller and HC05 Bluetooth serial port module that can send Bluetooth signals.In terms of interaction with the outside world,the HC05 Bluetooth serial port module is used to communicate with the ATMEGA32A single-chip microcomputer;in terms of motion control and continuity,the steering gear control board based on the ATMEGA32A single-chip microcomputer is used to implement the action library design,delay and continuity test for the control system;In terms of mechanical structure,the degree of freedom of the robot is improved under the premise of satisfying symmetry,the distance between the degree of freedom of the span and the degree of freedom of the ankle is shortened,and the large torque steering gear is used to solve the center of gravity problem and make it closer to the human form.