题 目：SMA微小型越障移动机器人系统的改进与控制
系 别： 精密机械与精密仪器系
专 业： 测控技术与仪器
研究方向： 微型机器人
ABSTRACT
With a new functional material Shape Memory Alloy (SMA), SMA over-obstacle Micro Robot can directly get across low obstacle or gully. There is no leading system to design the path in advance. Thus, it will greatly improve the efficiency of over-obstacle function. Based on the original robot, the author redesigned the whole over-obstacle Micro Robot and had it manufactured, so as to keep the previous over-obstacle ability but much less SMA be used, so that reduce the difficult of the circuit control. At the same time, the author endeavored to improve the Robot’s over-obstacle ability. Proved by the experiment, the author made it.
In this paper, the author first introduced the whole structure of the improved Micro Robot and the principle of over-obstacle function. When the Micro Robot is walking on flat ground, it can move steadily and precisely by using the double-wheel driving noumenon. But once it comes to an obstacle, it will change into subsidiary over-obstacle function status. Actuated by SMA, it can transform and get across the obstacle like a walking robot.
In the following part, the author described in detail the control electrical circuit for Robot to walk steadily on the flat ground and to realize the over-obstacle function. It adopted PWM heating method and it is realized through the control signal from computer.
Then the author provided control software for the无忧论文 【http://www.uklunwen.com】 Micro Robot. Therefore the Robot can realize the direct over-obstacle function controlled by computer. And also, a beautiful and convenient control interface was presented.
Finally, the author described the simulation of the Robot. And also, a set of pictures of the simulation was provided.
Keywords:
Independent double-wheel drive, SMA actuator, PWM heating method，Parallel Port Control
摘 要
SMA微小型越障移动机器人采用新型功能材料----形状记忆合金（SMA）,实现了直接跨越较规则的低小障碍或沟壑的能力。由于这种直接越障方式不需要任何导航系统做复杂的路径规划，故可大大提高越障效率。本文在原有越障机器人的基础上，对整体越障机器人进行重新设计，加工，使得在保持原有越障能力的基础上，极大地减少形状记忆合金丝的使用数量，从而使控制得以简化。在简化控制的同时，文章还尽可能设法提高机器人的越障能力。实验证明，作者的努力获得了成功。
本文中首先介绍了改进的SMA微小型越障移动机器人的总体结构和越障机制。在平地时，机器人由双驱动轮的本体功能部分实现准确，稳定的运动；遇到障碍时，由SMA元件驱动，机器人进行变形，切换到辅助越障功能部分，模仿步行机器人的越障方式，实现跨越障碍。然后，文章着重介绍了越障机器人的平地行走控制电路和越障控制电路的设计。越障控制根据SMA远见的控制模型，采用PWM加热方法，由计算机发出控制信号来实现。接着，文章简单介绍了越障机器人的控制程序的设计，实现了计算机控制越障机器人的平地行走和直接跨越障碍功能，并提供了良好的控制界面。最后，文章介绍了越障机器人的仿真，并给出了仿真动画组图。
关键词
双轮独立驱动、SMA驱动器、PWM加热方式、并口控制
目录
ABSTRACT
摘要
SMA微小型越障移动机器人系统的改进与控制
第一章 绪论…………………………………………………………………….……1
第二章 微小型越障移动机器人…………………………………………………….4
2.1 越障移动机器人原始整体机械结构……………………………………….4
2.2 存在的问题………………………………………………………………….5
2.3 结构的改进………………………………………………………………….6
2.4 机器人的越障机制………………………………………………………….7
第三章 越障机器人的电机控制电路设计…………………………………………9
3.1 微机并行接口的应用原理…………………………………………………9
3.2 双轮驱动控制………………………………………………………………10
3.3 电机性能介绍………………………………………………………………11
3.4 电机驱动控制电路设计……………………………………………………11
3.4.1 计算机并口接口电路………………………………………………….12
3.4.2 D/A转换电路…………………………………………………………..17 |
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