基于Arduino的四足机器人设计与制作

Design of Quadruped Robot Based on Arduino

行走机构和转弯机构是四足机器人最关键的部分,目前行走机构的研究大多采用在腿部机构的关节处安装伺服驱动器进行驱动。论文在对四足机器人各个功能部件设计选型的基础上,采用SOLID WORKS软件建立四足机器人本体结构的三维模型,并计算出模型的主要参数,采用木板材料切割出四足机器人的主体结构。设计使用舵机驱动式行走系统,以Arduino开发板为控制单元,完成其与Arduino nano扩展板、WiFi无线模块、mpu6050传感器模块、动力系统电池以及舵机等硬件组成单元之间的装配连接。在此基础上设计四足机器人的软件控制程序,上传烧录程序后,通过打开串口监视器进行参数设置,调整四足机器人的步态参数,最终成功实现了四足机器人的舵机步态动作控制。该四足机器人装配简单,调试方便,运行灵活。

Walking mechanism and turning mechanism are the most critical parts of quadruped robot.At present,the research of walking mechanism is mostly driven by installing servo driver at the joint of leg mechanism.Based on the design and selection of various functional components of the quadruped robot,the three-dimensional model of the quadruped robot body structure is established by using solid works software,the main parameters of the model are calculated,and the main structure of the quadruped robot is cut by wood material.The design uses the steering gear driven walking system,and takes the Arduino development board as the control unit to complete the assembly and connection with the Arduino nano expansion board,WiFi wireless module,mpu6050 sensor module,power system battery,steering gear and other hardware components.On this basis,the software control program of the quadruped robot is designed.After uploading the burning program,the parameters are set by opening the serial port monitor,and the gait parameters of the quadruped robot are adjusted.Finally,the steering gear gait control of the quadruped robot is successfully realized.The quadruped robot has the advantages of simple assembly,convenient debugging and flexible operation.