基于快速转弯微小机器人系统的研究

The Research Based on the System of Turning Micro-robot

介绍了一种基于尺蠖运动原理的能实现快速转弯的微小机器人系统,并对机器人进行了设计和制作,组装了实验用机器人样机,通过AT89C52单片机及其外围驱动控制电路对机器人行走和位置信号的产生进行控制,并通过二维PSD对微机器人的三维位置进行检测,取得了与理论一致的结果。实现了对该机器人的行走运动和位置检测控制的功能,为对该类机器人的进一步研究提供了一个新的思路。

The robot techniques development is making over in an astonished velocity. Today ,all kinds of robots have different shape and function appear in everywhere. The robot that used the turning theory of human being and the motion theory of cankerworm is introduced. Micro-robot is an important offset of robot technique. This paper has solved three problems of this kind of micro-robot. One is the mechanical structure design, and the second is controlling circuit design, the third is measurement system design. Two new pattern micro-robots have been made which not only can move on the smooth armor plate, but also can turn its body quickly and freely. This new pattern micro-robot has strongly driving power, which also can be refitted another walking-type robot. At the same time, it also succeeded in controlling the robot through the microprocessor AT89C52 and the other new type controlling circuit. Taking the chip of LG9110 as the positive and negative driver, and the chip of SN75451B as the driver of the other parts, not only the design of circuits become easily, but also circuit board become simply. It provides some diagrams of program. In short, through the experiment, it gains some important data of making this kind of robot on the other hand, the experiment proves that the project not only can control the robot freely, but also offers a new idea for the studying of this kind of micro-robot.