基于STM32的仿生六足越障机器人系统设计  

Design of Bionic Hexapod Obstacle Climbing Robot System Based on STM32

作　　者：张坤之 胡明 ZHANG Kunzhi;HU Ming(Liaocheng Xintai Machine Tool Co.,Ltd.,Liaocheng 252200;Shandong Machinery Design and Research Institute,Jinan 250031)

机构地区：[1]聊城鑫泰机床有限公司,聊城252200 [2]山东省机械设计研究院,济南250031

出　　处：《现代制造技术与装备》2022年第7期90-94,共5页Modern Manufacturing Technology and Equipment

摘　　要：当前机器人研究为世界各国研究的热点项目,如何开发低成本、高性能的机器人是研究的重点和难点。设计的六足机器人以蜘蛛为蓝本,通过SolidWorks软件创建六足机器人模型,结构牢靠、控制方便、运动灵活,且在崎岖不平的路面具有独特的优越攀爬越障性能,能够在复杂路况中较平稳地进行探索。采用高级精简指令集处理器(Advanced Reduced Instruction Set Computer Machines,ARM)STM32F103RCT6为主控芯片设计机器人控制系统,相比其他芯片,具有成本低、功耗低、性能优异、功能强大以及扩展丰富多样的特点,能够通过蓝牙远程遥控,满足六足机器人在复杂环境中的控制需要。At present,robot research has become a hot research project in the world. How to develop a low-cost and highperformance robot is the focus and difficulty of the current research. The hexapod robot designed in this paper is based on spiders,and the model of hexapod robot is designed by SolidWorks software. It has strong structure, high degree of freedom, flexible joints,and unique excellent climbing and obstacle crossing performance in the rough road, which can be explored smoothly in these complex road conditions. STM32F103RCT6 with arm core structure is used as the main control chip to design the robot control system. Compared with other chips, STM32F103RCT6 has the characteristics of low cost, low power consumption, excellent performance, powerful function and rich expansion. Moreover, it can be remotely controlled by bluetooth to meet the control needs of hexapod robot in complex environment.

关 键 词：STM32 仿生六足机器人 机械机构 控制系统 

分 类 号：TP368.1[自动化与计算机技术—计算机系统结构] TP242[自动化与计算机技术—计算机科学与技术]