基于五自由度机械手的遥控智能车

摘要

本文对基于五自由度机械手的遥控智能车进行了总体设计及分析，包括整体结构设计、机械臂零件和小车底盘零件选用和分析、机械臂关节驱动舵机选用、小车减速箱和驱动电机选用、五自由度模拟机械臂的设计、遥控端电路和接收端电路设计，遥控端和接收端程序设计等。

本设计还做出了实物，能够实现无线灵活控制小车前进后退，左转右转；通过模拟机械臂无线同步控制车载五自由度机械手抓取物体和搬运物体；小车周围环境视频无线实时监控；遥控端一键切换摄像头；一键控制夜灯开闭；一键切换手动遥控小车和小车自主行驶。这个带有机械手的无线小车，可以用于需要远程移动巡逻的地方，也可用于化工厂等危险区域巡逻，搬运小型物体；另外综合了机械和电子多门课程多个重要知识点，并且很好的结合在一起，非常适用于课堂现场实物教学。

关键词:机械手；无线；单片机；视频实时；智能车

ABSTRACT

In this paper, based on five -DOF manipulator remote intelligent vehicle carried the overall design and analysis, including overall design, robotic parts and car chassis parts selection and analysis , manipulator joint drive servo selection, car gear box and drive motor selection , five degrees of freedom manipulator design simulation , remote control of the circuit and the receiver circuit design, remote control and the receiver program design.

This design is also made in-kind , to achieve flexible wireless control car forward and back, Turn left and turn right; synchronization control car radio by simulating five degrees of freedom robotic manipulator grab objects and moving objects ; trolley ambient video wireless real-time monitoring ; remote end of a key switch cameras ; opening and closing a key control nightlights ; a key switch manual remote control car and trolley autonomous driving. The wireless car with a mechanical hand , can be used for remote mobile patrols where needed , can also be used in hazardous areas such as chemical plants patrol , handling small objects ; another combination of mechanical and electronic multi- course a number of important knowledge and good together, ideal for classroom teaching physical site .

Key word ：robot ，radio ，MCU ，video in real time ，smart car

目录

摘要 ........................................................................... I ABSTRACT....................................................................... II 1 绪论 (1)

1.1 课题背景，国内外现状和意义 (1)

1.1.1 课题背景 (1)

1.1.2 国内外现状 (1)

1.1.3 设计意义 (2)

1.2 设计目标，总体设计和控制途径 (3)

1.2.1 设计目标 (3)

1.2.2 总体设计 (3)

1.2.3 控制途径 (4)

2 机械部分结构设计与零件选用 (5)

2.1 模拟机械臂 (5)

2.2 车载端五自由度机械臂 (6)

2.3 二自由度摄像头云台 (9)

2.4 小车底盘选择 (9)

2.5 减速齿轮箱 (10)

2.6 小车驱动电机 (11)

2.7 机械臂关节驱动 (12)

3 遥控端电路原理及设计 (13)

3.1 单片机的选择与分析 (13)

3.2 小车遥控电路设计 (14)

3.3 模拟机械臂电路设计 (15)

4 车载端电路原理及设计 (16)

4.1 小车接收电路设计 (16)

4.2 车载五自由度机械手电路设计 (16)

4.3 小车电机驱动电路 (17)

4.4 小车超声波避碍模块 (18)

5 无线视频实时传输 (19)

5.1 无线视频方案选择与分析 (19)

5.2 视频发送模块 (19)

5.3 视频接收模块 (20)

5.4 液晶显示 (21)

6 程序设计 (22)

6.1 遥控小车程序 (22)

6.2 模拟机械臂程序 (22)

6.3 小车接收端程序 (22)

6.4 五自由度机械臂程序 (22)

7 结论与展望 (24)

7.1结论 (24)

7.2展望 (24)

参考文献 (25)

附录一 (26)

致谢 (28)