解魔方竞赛机器人设计  

The Design of Rubik′s Cube Competition Robot

作　　者：玉健鸿 李品 张帆 史颖刚[1] 刘利[1] 谷芳[1] Yu Jianhong;Li Pin;Zhang Fan;Shi Yinggang;Liu Li;Gu Fang(College of Mechanical and Electronic Engineering,Northwest A&F University,Xianyang,Shaanxi 712100,China)

机构地区：[1]西北农林科技大学机械与电子工程学院,陕西咸阳712100

出　　处：《机电工程技术》2021年第9期108-110,140,共4页Mechanical & Electrical Engineering Technology

基　　金：陕西省高等教育学会2019年高等教育科学研究项目(编号:XGH19023);2019陕西高校创新创业课程建设项目;西北农林科技大学省级“大学生创新创业训练计划”项目(编号:S202010712712)。

摘　　要：设计了一种面向中国高校智能机器人创意大赛的解魔方机器人,以STM32F103ZET6单片机为控制核心,通过搭载电机驱动器、电控手指气缸、气滑环,构建了解魔方竞赛机器人的控制系统;基于气动控制的工作方式,设计了机器人的机械系统和相应的控制算法。经实物搭建实验,该魔方机器人在还原100次随机打乱的三阶魔方过程中,平均耗时19 s,最长不超过25 s,对于此类竞赛机器人设计具有一定参考价值。A rubik′s cube robot for Chinese university intelligent robot creative competition was designed.Taking STM32F103ZET6 single chip microcomputer as the control core,the control system of rubik′s cube robot was constructed by carrying motor driver,electric finger cylinder and air sliding ring.Based on the working mode of pneumatic control,the mechanical system and corresponding control algorithm of the robot were designed.Through the experiment,the rubik′s cube robot took 19 s on average in the process of restoring the third-order rubik′s cube which was randomly disturbed for 100 times,and the longest was no more than 25 s.It has a certain reference value for the design of this kind of competition robot.

关 键 词：解魔方机器人 二阶段算法 图像识别 魔方复原 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]