自由体操机器人（非常不错）.docVIP

自由体操机器人 第二十一届“冯如杯”学生课外学术科技作品竞赛项目论文 自由体操机器人 院（系）名称 自动化科学与电气工程学院 学 号_ _ 学生姓名 张熠乐 指导教师 董卓宁 2011年4月2日  摘要：机器人硬件加工制作的前提是三维软件Solidworks的动作模拟，用铝制件连接伺服电机，降低机器人的重量，因此完成期望动作的可行性和稳定性较高。在脉宽调制（PWM）控制伺服电机的方法基础上，ATmega16单片机通过定时器设定脉冲宽度，达到对伺服电机的角度控制。上位机软件是由Visual Basic语言编写的，通过调用串口控件Mscomm 进行串口通讯，该软件可以独立控制24路伺服电机，因此电机最多数目为24个，该机器人运用10个伺服电机，力图用最少电机数达到预期的功能，提高可靠性。在下位机程序里，定义了与伺服电机角度值相对应的数组，因此上位机可以方便的向下位机传送相应的角度控制命令。程序运行是脱离PC机，由MCU单独控制。通过对程序的调试从而完成对机器人动作的设计，最终，机器人按照预先编排的程序实现相应的动作。该机器人可完成一系列自由体操动作，如倒立、劈叉、侧翻等较高难度动作，稳定性较高，该设计方法具有一般适用性，可以适应于同类机器人的设计工作，因此该设计方案具有较高的推广应用价值。 关键词：伺服电机，单片机，下位机，PWM Abstract: The premise of robot hardware manufacture is the three-dimensional simulation software Solidworks which can simulate the action. We use aluminum parts to connect the servo motor and reduce the weight of the robot, so expect to complete the feasibility and stability of the higher action. On the basis of pulse-width modulation (PWM) control the servo motor, ATmega16 microcontroller timer set the pulse width, in order to control the angle of the servo motor control. The host computer software is written in Visual Basic language, using the Mscomm for serial communication, the software can be independently controlled 24-way servo motor, so the maximum number of motor is 24. The robot uses 10 servo motors, trying to use the least number to achieve the expected function and improve reliability of the action. In the lower device program, defining the array which corresponding to the angle of the servo motor, so the host computer can easily send the control command. Run is from the PC, individually controlled by the MCU. Through the commissioning process in order to complete the design of the robot movement, and ultimately, the robot pre-programmed in accordance with procedures to achieve the appropriate action. The robot can complete a series of floor exercises, such as the inverted, the splits, ro