竞技体操机器人--机器人技术结课论文.docx

机器人技术学号：姓名：班级：机械工程竞技体操机器人摘要体操机器人是仿人型机器人里的一种，也是研究仿人型机器人的基础体操机器人不仅能够提高我们的动手能力和实践能力，还能增强我们的创新意识和创新实践能力，锻炼我们的综合素质，让我们更热衷于科学技术的研究本体操机器人以十自由度为基础，能够完成摆手、滚翻、俯卧撑、侧翻、倒立等多项高难度动作它具有多自由度并集成了现代化控制技术、人机交换技术等机电一体化技术目前体操机器人主要用来供人们娱乐欣赏使用，它在人们的生活扮演着越来越重要的角色此次设计的体操机器人主要由机械结构和控制系统组成，首先机械结构设计，根据制作材料、舵机型号初步设计出体操机器人的机械外形，然后在 SolidWorks 下对机器人进行虚拟三维建模，对存在的问题进行修改最后对其进行运动学仿真和运动学分析检查是否能够完成指定的动作，对速度、加速度、位置能问题进行分析再次是控制系统设计控制系统的硬件以飞思卡尔公司的 MK60DN512ZVLQ10 芯片为核心，在 Altium Designer Winter 09 软件中开始设计体操机器人的控制电路经过系统调试，通过上位机软件实现对机器人的控制。

采用嵌入式 C 语言，设计和调试程序，最终使机器人能过自主完成体操动作此次比赛的创新之处在于不仅能够完成指定动作，还能完成打排球能高难度动作关键词关键词： 体操机器人；舵机；十自由度；SolidWorks；Altium DesignerGymnastics robot AbstractGymnastics robot is a kind of humanoid robot, which is the basis for the study of humanoid robot. Gymnastics robot can not only improve our manipulative ability and practice ability, but also can enhance our innovation consciousness and innovation ability, which exercise our comprehensive quality and let us more interest in the study of science and technology. On the basis of 10 degrees of freedom, the robot can accomplish a number of difficult moves such as motioning with his hand, rolls, push-ups and side turn. It has more degrees of freedom and mechanical and electrical integration technology such asthe modern control technology and man-machine exchange technology. Nowadays gymnastics robots are mainly used for people to appreciate the use entertainment, and it will play a more and more important role in people's lives.The design of the gymnastics robot is mainly composed of mechanical structure and control system. First of all, the mechanical structure design is the most important part, according to production materials, steering gear model, gymnastics robot's mechanical shape is designed. Then, under the SolidWorks the virtual 3D modeling is designed, the existing problems of the robot is modified. Finally, the kinematics simulation and kinematic analysis are carried. Besides, we check whether it can complete the specified action and analyze the problems of the speed, acceleration, position. Again, the control system is designed. Hardware of the control system is Freescale company's MK60DN512ZVLQ10 chip, in Altium Designer in Winter 09 software, we began to dance robot control circuit design. After the system debugging, through the PC software we control the robot. Using embedded C language, program design and debugging, we eventually make robots independently complete the gymnastics movements. Innovation is not only able to complete this match specified action, but also to complete difficult moves, such as playing volleyball.Keywords：：Gymnastics robot;Steering gear;Ten degrees of freedom; SolidWorks；Altium Designer目 录1.综述................................................................................................................................11.1 课题的研究目的及意义..........................................................................................11.2 机器人研究发展现状..............................................................................................11.3 比赛相关内容及分析..............................................................................................22.系统整体设计................................................................................................................22.1 竞技体操机器人机械部分材料分析......................................................................22.2 动力元件分析..........................................................................................................33.机械结构设计................................................................................................................43.1 体操机器人的整体设计..........................................................................................43.2 机器人的零件尺寸形状设计..................................................................................54.竞技体操机器人控制系统硬件介绍............................................................................74.1 K60 核心板图 ...........................................................................................................74.1.1 K60 核心板图 ................................................................................................74.1.2 晶振模块.......................................................................................................74.1.3 复位模块电路图...........................................................................................84.1.4 JTAG 接口电路 .............................................................................................84.2 舵机控制电路..........................................................................................................94.2.1 核心板控制舵机的接口布局图...................................................................94.2.2 舵机驱动电路.............................................................................................105.系统开发调试..............................................................................................................115.1 机器人调试模式............................................................................。