上下位机控制的六足仿生机器人设计  

Design of Hexapod Robot Based on Upper and Lower Computer

作　　者：王晓[1] 

机构地区：[1]山东科技大学电气与自动化工程学院,山东青岛266590

出　　处：《电子质量》2015年第7期31-34,38,共5页Electronics Quality

摘　　要：设计一模块化的的六足仿生机器人,这种设计可以简化六足机器人的结构而同时能又保障其性能的优越。它采用上下位机的控制形式,选用舵机控制板,以舵机来驱动运动关节,避障模块选取多路红外循迹控制模块,在系统软件控制下,来实现其各项功能。控制系统的模块化设计简化了系统的结构,降低了设计过程的复杂性,使该机器人能更加精确地控制更为复杂运动步态,实现了在地面的稳定运动,具有很强的适应能力。In order to simplify the structure and insure its superior performance of hexapod robot,a hexapod robot based on triangle gait is designed.The robot adapts control form of two piece of single ship control,which drives the movement joints based on steering engine and avoids barrier depended on multi-channel infrared tracing control module.Modular design of control system simplifies the structure of the system and reduces the complexity of the design,which has ensured the robot＇s precious control for complex movement gait and achieved stable movement in all kinds of ground.It has a strong adaptability.

关 键 词：仿生机器人 上位机 下位机 循迹控制模块 舵机 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]