【正文】 I \=論文題目：基于 LPC2131 的蛇形機器人 硬 件設計 專 業(yè)：自動化 學 生： 宋代寧 簽名 ： __________ 指導教師：李紅巖 簽名 ： __________ 摘 要 對于地震、 瓦斯、 有毒氣或者空間狹小的場所，作為普通的人 ， 我們難以完成 某 些任務，因此可以去尋找一些人類的替代品。而蛇作為一種無脊椎生物 ， 靠身體的蠕動可以靈活完成這些任務。 本課題以此為出發(fā)點 ， 以 LPC2131 和 51 單片機為控制器，實現(xiàn)蛇形機器人的 3 個自由度運動 ， 蛇前面裝有攝像頭、紅外避障、數(shù)字遙控接收器、 NRF905 無線數(shù)據(jù)傳輸模塊、超聲波測距模塊、 LCD1602 顯示 ，監(jiān)測部分用軟件 上位機 來實現(xiàn) ，方便人們了解情況。蛇形機器人分為四個模塊：電源、控制 器 、機械模塊和無線傳輸模塊。蛇的 執(zhí)行 部分主要有直流減速電機 和 MG955 舵機 。 以開關(guān)電源為主要部件，給直流電機 和 舵機 分別提供 12V、 5V電壓，控制器用蓄電池作為電源。機械模塊以 UVPC 管為原材料，鋸成蛇身體的單元結(jié)構(gòu)，再以鉚釘連接。無線控制部分由 NRF905 進行數(shù)據(jù)的傳輸， 遠程控制由 無線式數(shù)字遙控實現(xiàn)。 論文主 要介紹了蛇形機器人機械結(jié)構(gòu)的制作方法，各個功能電路的原理，各模塊的集成設計，各部件的選擇及連接方式，各種元件的控制方法，及其實現(xiàn)的功能，充分展示了制作蛇形機器人的整個過程。 關(guān)鍵詞： LPC2131，蛇形機器人，直流減速電機，舵機， NRF905 II Subject: Design of snake like robot based on LPC2131 software Specialty: Automation Name: Song Daining (Signature) __________ Instructor: Li Hongyan (Signature) __________ ABSTRACT For earthquake,poison gas or narrow space,as an ordinary people,we are difficult to acplish some certain tasks,so we can go to find some substitute goods for human snake as a kind of invertebrates that creeping can be flexible to plete these tasks by the body. This topic is based on this opinion,so it uses LPC2131 and 51 singlechip microputer as the controller to achieve the three degrees of freedom movement of the snakelike , infrared obstacle avoidance,digital remote control receiver,NRF905 wireless data transmission module, ultrasonic distance measuring module, LCD1602 display, and monitoring part with PC software are carried in front of the snake,so people know the situation. Snakelike robot is divided into four modules: power supply,controller,mechanical module and wireless transmission module. The snake39。s moves is depended on dc gear motor and MG955 steering gear. Switching power supplies 12v and 5v voltage for dc gear motor and steering gear, battery provided power for controller. Mechanical module use UVPC tube as raw materials, and divides into the snake unit structure of the body. Wireless is controlled by NRF905 for data transmission, remote control uses wireless digital controller . The subject introduces the method of making the snakelike robot mechanical structure,the function principle of the circuit,the integrated design of each module,the selection of ponents and connection mode,control method of various ponents and the functions,fully demonstrates the whole process of production of snakelike robot. KEY WORDS: LPC2131, Snakelike rooted gear motor, Steering gear, NRF905 III 目 錄 1 緒 論 ...................................................................................................................................... 1 蛇形機器人研究的背景和意義 .................................................................................... 1 蛇形機器人的簡介 ........................................................................................................ 2 本文的結(jié)構(gòu)安排 ............................................................................................................ 4 2 理論概述 .................................................................................................................................. 5 主控制器 ........................................................................................................................ 5 LPC2131的簡介 ................................................................................................... 5 51單片機 .............................................................................................................. 7 蛇形機器人運動的 算法實現(xiàn) ........................................................................................ 9 超聲波測距原理 ...........................................................................................................11 無線原理 ...................................................................................................................... 15 ..................................................................................................... 15 NRF905數(shù)據(jù) 傳輸 .............................................................................................. 18 直流電機的原理 .......................................................................................................... 18 PWM原理 .................................................................................................................... 19 本章小結(jié) ...................................................................................................................... 20 3 蛇體的系統(tǒng)設計 .................................................................................................................... 21 蛇身的整體設計及選型 .............................................................................................. 21 機械材料的選擇 ................................................................................................ 21 蛇形結(jié)構(gòu)的確定 ................................................................................................ 21 蛇運動的模擬 .................................................................................................... 22 1602液晶顯示模塊 ...................................................................................................... 23 1602 引 腳功能 的簡介 ........................................................................................ 23 1602 的控制時序 ................................................................................................ 24 1602 的操作指令 ................................................................................................ 27 1602 的外圍連接圖 ............................................................................................ 28 超聲波模塊 .................................................................................................................. 29 超聲波的硬件結(jié)構(gòu) ............................................