摘要
双足行走机器人具有12个自由度,包括10个扭矩1.5 N·m的总线舵机和2个扭矩0.15 N·m的普通PWN(脉冲宽度调制)小舵机,10个总线舵机构成机器人的腿部,2个小舵机构成腰部和头部。总线舵机之间用硬铝金属U形件和多功能连接件,用防松螺丝套件连接。脚底由透明亚克力板构成,底部粘接带颗粒软橡胶皮,提高机器人与地面之间的摩擦来防滑。本设计采用STM32f103RCT6单片机作为双足行走机器人的控制核心,通过嵌入式程序开发,使用线性CCD(电荷耦合器件)让机器人自主寻线,并采用STC8A8K单片机对线性CCD进行控制,在OLED显示屏上显示CCD采集的电压值,从而实现对机器人行走路径的精准控制。
The biped robot has 12 degrees of freedom,including 10 bus servos with a torque of 1.5 N·m and 2 ordi⁃nary pwm(Pulse Width Modulation)small servos with a torque of 0.15 N·m,and 10 bus servos form the legs of the ro⁃bot,and 2 small servos form the waist and head.Duralumin metal U-shaped pieces and multi-function connectors are used between the bus servos,and they are connected with anti-loosening screw kits.The sole of the foot is com⁃posed of a transparent acrylic plate,and the bottom is glued with a granular soft rubber skin to improve the friction be⁃tween the robot and the ground to prevent slippage.This design uses the stm32f103rct6 microcontroller as the control core of the biped walking robot,through embedded program development,linear CCD(Charge Coupled Device)is used to allow the robot to find the line autonomously,and the STC8a8k microcontroller is used to control the linear CCD,and the voltage value collected by the CCD is displayed on the OLED display screen,thereby realizing the ac⁃curacy of the robot's walking path control.
作者
周书兴
王星海
ZHOU Shuxing;WANG Xinghai(Guangzhou Polytechnic College,Guangzhou Guangdong 510540;School of Mechanical and Electrical Engineering,Guangzhou Polytechnic College,Guangzhou Guangdong 510540)
出处
《河南科技》
2021年第9期69-71,共3页
Henan Science and Technology
基金
2017年广东省科技厅科研平台、广东省工业机器人集成与应用工程技术研究中心、2017年广东省教育厅教学改革项目“机械设计制造及自动化专业集群创新教育综合改革研究”(2017SJG02)。
