【作者】 孙磊；

【导师】 王立权；

【作者基本信息】 哈尔滨工程大学 ， 机械电子工程， 2005， 硕士

【摘要】 随着仿生学、微电子机械系统技术(MEMS)、高密度信息处理技术和集成控制技术的飞速发展,微小型仿生机器人以其隐蔽性强、功耗小、成本低廉、便于部署的优点正日益成为军用机器人研究热点。本课题来源于国家自然科学基金项目“两栖仿生机器蟹基础技术研究”,希望建立一个对复杂地形高度适应、性能可靠、体积小巧、并具有两栖环境下活动能力的小型移动机器人平台。 本论文主要研究内容包括仿生机器蟹的总体方案设计、机械机构和驱动控制层的设计的实现及其功能的验证。依据系统总体方案,重点对总体机械结构、运动学动力学分析、基于ARM处理器和MSP430单片机的运动控制系统等内容开展了研究。 1.改进以往的设计方案的不足,设计了全新的仿生机器蟹方案并对其机构模型进行了运动学和动力学的分析;制定了以具有ARM7内核的SW4480为核心的协调控制层和以MSP430f1222为核心的驱动控制层的双层控制方案;围绕MSP430f1222单片机和电机驱动芯片L6201(Power)设计了电机驱动器以及相关接口电路。 2.在运动学与动力学分析中,建立了单步行足的运动学方程,并给出其正解和反解;通过雅可比矩阵对步行足的进行了速度分析和力分析;建立了单步行足的动力学方程;对于双四足步态下仿生机器蟹形成的并联机构进行了分析和探讨。 3.在以MSP430f1222为核心的驱动控制层的设计中,包含MSP430单片机最小系统、电机编码器信号处理、关节电位计信号处理、压力量力传感器A/D转换等软硬件模块。并采用RS485总线作为仿生机器蟹系统协调控制层和驱动控制层之间数据交换的载体。 完成的单步行足的安装调试工作,通过单步行足实验验证了软硬件设计的可行性,并在此基础上对系统进行了近一步的完善。更多还原

【Abstract】 With the high development of bionics, MEMS, high-density information management and integration control, micro bionic robot technique has become researching focus of military robots. For its advantages, such as high performance of concealment, low power consumption and cost, convenient for disposal etc. The research of this paper supported by project of ’Amphibious Crab-liked Robot Study’, which is funded by NSFC (National Natural Science Foundation of China) aims at establishing a micro motion-robot platform with high adaptation to complicated landform, high dependability and ability for movement in amphibious environment.The main research of this paper are the main scheme of the system, the design of mechanical structure, the design of hardware in driving control layer of crab-liked robot and identification of related function. We pay more attention to the research on total mechanical structure, the analysis of kinematics and kinetics, motor driving and control system based on ARM and the SCM of MSP430.We improved on the old scheme of the system and designed the new one, and analyzed the kinematics and kinetics of the crab-liked robot mold. We framed the two-layer control system. The core of distributed control layer is SW44B0 with the core of ARM7. The core of drive control layer is MSC chip MSP430f1222 and motor drive chip L6201 (Power).In the analysis of kinematics and dynamics, we founded the kinematics and dynamics equation and analyzed the parallel structure that pose appears when the crab-liked robot walks with the dual-four legs gait. All these above establish the fundament for movement control.As far as designs of driver control layers which is based on MSP430f1222 system, the system includes mini-system of SCM, the coder signal treatment module, the joints potentiometer signal treatment module, A/D transformationmodule of pressure sensor, and all that software and hardware modules. In addition, also determined RS485 bus as the medium of data exchanges between compatible control layer and driver control layer of bionic crab.After finished installation and debug, we testified the feasibility of software and hardware designs; furthermore, we need to complete this system in next work.更多还原