基于STM32单片机的四足仿生蜘蛛机器人控制系统设计  

Design of Quadruped Bionic Spider Robot Control System Based on STM32 Microcomputer

作　　者：邓江涛 熊中刚 贺晓莹 李先顺 裴春春 覃启豪 周柳颖 文琴 Deng Jiangtao;Xiong Zhonggang;He Xiaoying;Li Xianshun;Pei Chunchun;Qin Qihao;Zhou Liuying;Wen Qin(School of Mechanical and Electrical Engineering,Guilin Institute of Aerospace Technology,Guilin,Guangxi 541004,China)

机构地区：[1]桂林航天工业学院机电工程学院,广西桂林541004

出　　处：《机电工程技术》2023年第10期162-165,共4页Mechanical & Electrical Engineering Technology

基　　金：2021年桂林航天工业学院校级科研项目(XJ21KT26)。

摘　　要：以四足机器人为研究对象,针对四足机器人在复杂环境下稳定性较差、越障能力有限的问题,设计了一款新型的仿生蜘蛛。该控制系统设计主要包括硬件设计和软件设计,以STM32单片机为控制核心,通过PCA9685舵机控制板控制整体12个舵机。蜘蛛携带的MPU6050陀螺仪模块将蜘蛛整体的运行姿态实时反馈给中央控制器,由此调整每条腿的角度,实现整体平衡的控制。同时位于蜘蛛前方的HC-SR04超声波模块实时监控前方障碍物的距离,进行避障处理。利用Protues仿真环境分析其各项功能的可行性,并进一步完成实物的设计制作与测试。仿真与实物测试结果表明:该系统能够较好地完成预期功能,实现在非结构地形上的平衡控制、躲避障碍物、运载物资等功能,为提升四足机器人的稳定性提供了较好的解决方案。Taking quadruped robots as the research object,a new type of bionic spider is designed for the problems of poor stability and limited obstacle crossing ability of quadruped robots in complex environments.The control system design mainly includes hardware design and software design,with STM32 single-chip microcomputer as the control core,and the overall 12 servos are controlled through the PCA9685 servo control board.The MPU6050 gyroscope module carried by the spider feeds back the overall running attitude of the spider to the central controller in real time,thereby adjusting the angle of each leg to achieve overall balance control.At the same time,the HC-SR04 ultrasonic module located in front of the spider monitors the distance of obstacles in front of the spider in real time and makes obstacle avoidance treatment.The Protues simulation environment is used to analyze the feasibility of its functions,and the actual design,production and testing are further completed.The simulation and physical test results show that by using the system,the expected functions can be better completed,the functions of balance control,obstacle avoidance,and carrying materials on non-structural terrain can be realized,which provides a better solution for improving the stability of quadruped robots.

关 键 词：四足仿生蜘蛛机器人 STM32 蓝牙 避障 PCA9685 陀螺仪 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]