《刘波 毕业设计论文》.docxVIP

PAGE \* MERGEFORMAT42 华中科技大学本科毕业论文 华中科技大学 毕 业 设 计 [ 论文 ] 题目：六脚爬虫机器人运动步态规划 和控制系统搭建 院系：机械学院 专业：机械设计制造及其自动化专业 姓名：刘波 指导老师：何岭松 2011 年 6 月 9日 六脚爬虫机器人运动步态规划 和控制系统搭建 摘要：几年前，比尔·盖茨做了一个大胆的语言：未来家家都有机器人。机器人在人类将来的生活中将会扮演愈来愈重要的角色，而其中的多足机器人，因其较强的环境适应能力，而越来越受到科学工作者的重视。本设计就是在一个机械结构设计已完成的机器人上，研究其控制规律，并进行动作和步态规划，同时搭建其硬件控制系统和触摸屏软件控制系统。 首先，论文建立了机器人单腿的D-H坐标系，求出了其运动学方程和运动学反解，在此基础上完成了机器人三脚步态、四脚步态和波动步态的设计；同时规划了机器人的各种动作，如转弯，横行，做俯卧撑，舞蹈等；另外在机器人脚底加入柔性力传感器之后，设计了机器人的自由步态。 然后，论文以STM32F107为主控制芯片设计了机器人的完整硬件控制系统，包括舵机驱动电路，传感器连接电路等；同时还设计了利用触摸屏控制机器人运动的软件系统，并且移植了uCOS嵌入式操作系统，由此实现了通过触摸屏显示机器人状态和传感器数据，通过按键控制运行的功能。 最终在机器人上完成了上述各种实验，获得了比较理想的效果。 关键词： 六脚机器人 ；触摸屏 ；步态；uCOS控制系统；STM32 Abstract: A few years ago, Bill Gates made ??a?bold?prediction: The robot will appear in every ordinary family in the future. In other words, the robot will play an increasingly important role in the human life. What’s more, robots of Multi-legged are receiving more and more attention from scientists for their excellent adaption to the environment. This design is aimed at studding the rule of control, motion and gait in a robot whose mechanical design has been finished. Besides, it also sets up the control system of hardware and touchscreen software. Firstly, the paper builds up the D-H coordinate system of a single leg of the robot, and solutes the?equations of motion?and?its?inverse kinematics. The design achieves wave gait, tetrapod gait, tripod gait under the former basis. In the same time, the paper designs multiple motions for the robot, such as turning, walking sideways, do pushing ups, dancing. Besides, it also achieves free gait due to the flexiforce sensors under the feet of the robot. Secondly, the paper designs the whole control system of hardware based on the chip of STM32F107, including the circuit of servo?drive and?connection among sensors and the control chip. Also, it designs the software control system by using the touchscreen which applies the embedded system of uCOS. Due to this apply, the robot can display t