基于STC8的双臂魔方机器人设计  

Design of Dual-arm Rubik’s Cube Robot Based on STC8

作　　者：邓小颖[1] 魏国梁 李志强[1] 陈磊 DENG Xiaoying;WEI Guoliang;LI Zhiqiang;CHEN Lei(School of Information Engineering,Yangzhou University,Yangzhou 225127,China)

机构地区：[1]扬州大学信息工程学院,江苏扬州225127

出　　处：《无线电工程》2020年第10期831-834,共4页Radio Engineering

基　　金：扬州大学教学改革研究课题(创新创业教育改革专项)(YZUCX2019-4B)。

摘　　要：解魔方机器人是智能化机器人的一个全方面体现,对其算法和结构的研究也是机器人研究的重要内容。在综合运用图像处理、单片机和自动控制等技术的基础上,设计了基于STC8双臂魔方机器人系统。该系统使用机器视觉模块OpenMV,识别形状和颜色,确定魔方状态;用Kociemba算法得到解魔方步骤;控制机械臂快速还原魔方。机械臂部分由指关节的舵机和腕关节的电机组成,且基于PID控制。通过STC8主控使得对下位机的控制更加简洁高效,解魔方的平均时间可降低至1 min以内。The Rubik’s cube robot is an all-round embodiment of intelligent robot,and the research on its algorithm and structure is also an important content of robot research.Based on the technologies such as image processing,single chip microcomputer and automatic control,a dual-arm Rubik’s cube robot system based on STC8 is designed.The system uses the machine vision module OpenMV to identify the shape and color and determine the state of the Rubik’s cube,uses the Kociemba algorithm to get the steps of solving the cube,and controls the mechanical arm to quickly restore the cube.The mechanical arm consists of the actuator of the finger joint and the motor of the wrist joint and it is controlled by PID.The STC8 main control makes the control of the lower computer more concise and efficient,and the average time of solving the cube can be reduced to less than one minute.

关 键 词：STC8单片机 机器人 魔方 Kociemba算法 PID控制 

分 类 号：TP249[自动化与计算机技术—检测技术与自动化装置]