多变魔方机器人的控制系统设计  

Design of changeful magic cube robots′ control system

作　　者：揭宗昌[1] 郭力峰[2] 蔡泽辉[1] 

机构地区：[1]中国矿业大学计算机科学与技术学院,江苏徐州221116 [2]中国矿业大学信息与电气工程学院,江苏徐州221116

出　　处：《微型机与应用》2011年第7期101-103,106,共4页Microcomputer & Its Applications

基　　金：国家级大学生创新训练计划项目(081029009)

摘　　要：介绍了一种新型的可重构模块化机器人(多变魔方机器人),它同时拥有自重构、自组装和群体机器人的特点。多变魔方机器人的每个模块都可以自主移动并与其他模块自组装成魔方结构,还可以被配置成各种不同形态,实现变形。多变魔方机器人选用控制功能强大的ARM芯片和高可靠的ATmega8单片机,应用Zigbee无线网络通信构建了模块化分布式控制系统,有效地实现了机器人的运动控制。本文详细描述了多变魔方机器人模块的硬件结构,软件体系以及系统的工作原理。This paper presents a novel reconfigurablc modular robots（changeful magic cube robots） that also shares characteristics with self-reconfigurable and self-assembly and swarm robots, each module of changeful magic cube robots can be free to move and can be self-assembled to form a magic cube＇s structure with the other modules. These modules also can be configured into various different forms to achieve deformation. This case built a modular distributed control system of changeful magic cube robots by choosing ARM chip which has powerful control ability and ATmega8 MCU which is high reliability, using Zigbee wireless network for communications, and the movement control is efficiently implemented. The composing of hardware, the structure of software and the principle of system is introduced detailed in this paper.

关 键 词：可重构 模块化机器人 自组装 分布式控制系统 ZIGBEE 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]