六脚爬虫机器人机械结构设计和程序设计

摘要

本文详细介绍了六脚爬虫机器人的机械结构以及控制程序的编写。

机械结构采用了对称式设计，结构简单；其行走功能由六只脚、18个舵机实现，自由度较高，稳定性、灵活性较好。

控制程序的主体是C语言。包括基本步态的编写，以及传感器的在机器人上的高级应用，这样，机器人在满足基本行走运动的同时，也能感知外界环境，并通过控制器对接收到的外界信号进行处理，并控制机器人运动。

关键词：对称式结构，舵机控制器，步态，传感器

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Abstract

The thesis describes in detail that the mechanic design of Hexcrawler and the compiling of control program.

The structure of the robot is in symmetric expression, a simple mechanism; the function of walking is supported by six legs, and eighteen motors, with multiple degrees of freedom. Besides, it is of high stability and flexibility.

The program to control the robot is written in C language, including basic gait, the advanced application of sensors. Thereby, the robot can walk in several gaits. At the same time, it can sense the condition around it. Then, it will process the data it received, and control the motion of the robot.

Keywords: symmetric expression，PSCU, gait, sensor

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目录

摘要·································································································································I Abstract ··························································································································I I 目录·······························································································································I II 1 绪论 ·······················································································································- 1 -1.1课题来源····················································································································· - 1 -1.2本课题的目的及其意义 ····························································································· - 1 -1.3国内外发展现状 ········································································································· - 1 -

1.4本课题的研究内容 ·······································································错误！未定义书签。

2 机械结构设计介绍 ·······························································································- 6 -2.1 功能需求与分析 ········································································································ - 6 -

2.2 材料选择与结构设计介绍 ··························································错误！未定义书签。

3 舵机控制板原理与应用 ·······················································································- 9 -3.1 舵机原理介绍 ·········································································································· - 10 -3.2 舵机控制板原理介绍 ······························································································ - 11 -3.3 如何使用舵机控制板 ······························································································ - 1

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3.4 控制板程序编写 ······································································································ - 14 -

4 STM32开发板介绍与程序编写 ········································································· - 18 -4.1 STM32F107芯片简介······························································································· - 18 - 4.2 软件与编程初始准备 ······························································································ - 18 -4.3 GPIO与AFIO设置与应用 ························································································ - 18 -

4.31 GPIO设置与应用 (18)

4.32 AFIO-----I/O口重映射 (22)

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