基于LPC2132的蛇形机器人前端执行机构及控制系统设计  

Design of snake-like robot front end actuator and control system based on LPC2132

作　　者：李红岩[1] 侯媛彬[1] 

机构地区：[1]西安科技大学电气与控制工程学院,陕西西安710054

出　　处：《西安科技大学学报》2016年第2期265-270,共6页Journal of Xi’an University of Science and Technology

基　　金：国家级大学生创新项目(201410704032)

摘　　要：为了使蛇形机器人在不同地形环境下能更好地完成搜救任务,文中根据蛇形机器人的特点,从总体上设计了一种新型的前端执行机构。针对传统的蛇形机器人头部只有搜寻传感器无执行器的缺点,提出采用4自由度的正交机械臂作为前端执行器的方法,并以ARM7-LPC2132为控制器、L298N为电机驱动模块、液晶屏12864为人机交互界面搭建了系统的硬件平台。通过无线路由器WR703n可将天敏S608摄像头数据传至上位机进行视频监控、上位机可通过NRF24L01无线数传模块对下位机进行实时控制、温度测量、烟雾报警、机械臂除障等功能,从而可以进行复杂地形及位置领域的探测。系统程序软件采用C语言及C#编写。系统经过调试,可以实现对障碍物的夹取和搬运等预定功能。无线遥控距离可以达到100 m,而且通信效果稳定可靠。In order to make the snake-like robot can better perform search and rescue missions in different terrain environment,according to the characteristics of the snake-like robot,a new front end actuator was designed. According to the faults of traditional snake-like robot head only has sensor without actuator,the method of 4 degree of freedom is proposed as the front end effector,the hardware platform is built with ARM7-LPC2132 as the controller,L298 N as the motor driving module and LCD screen 12864 as the man-machine interface. Through a wireless router WR703 n Mortimer S608 camera data can be transferred to the host machine. By the wireless data transmission module the host machine can real-time control the lower machine,temperature measurement,smoke alarm,mechanical arm in addition to the barrier,which can perform complex terrain and device field detection. The program is written by C and C #language. After debugging,the function of the clamping and handling of the obstacle etc. can be achieved. The wireless remote control distance can reach 100 meters,and the communication effect is stable and reliable.

关 键 词：蛇形机器人 执行机构 LPC2132 舵机 RF 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]