【正文】 al 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(jī)器人研究的背景和意義 .................................................................................... 1 蛇形機(jī)器人的簡(jiǎn)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(jiǎn)介 ................................................................................................... 5 51單片機(jī) .............................................................................................................. 7 蛇形機(jī)器人運(yùn)動(dòng)的 算法實(shí)現(xiàn) ........................................................................................ 9 超聲波測(cè)距原理 ...........................................................................................................11 無(wú)線(xiàn)原理 ...................................................................................................................... 15 ..................................................................................................... 15 NRF905數(shù)據(jù) 傳輸 .............................................................................................. 18 直流電機(jī)的原理 .......................................................................................................... 18 PWM原理 .................................................................................................................... 19 本章小結(jié) ...................................................................................................................... 20 3 蛇體的系統(tǒng)設(shè)計(jì) .................................................................................................................... 21 蛇身的整體設(shè)計(jì)及選型 .............................................................................................. 21 機(jī)械材料的選擇 ................................................................................................ 21 蛇形結(jié)構(gòu)的確定 ................................................................................................ 21 蛇運(yùn)動(dòng)的模擬 .................................................................................................... 22 1602液晶顯示模塊 ...................................................................................................... 23 1602 引 腳功能 的簡(jiǎn)介 ........................................................................................ 23 1602 的控制時(shí)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) ............................................................................................ 29 由分立元件組成的發(fā)射和接受電路 ................................................................ 29 超聲波程序的實(shí)現(xiàn) ............................................................................................ 30 紅外避障 ...................................................................................................................... 30 IV 光電傳感器工作原理 ........................................................................................ 31 紅外避障原理圖 ................................................................................................ 32 NRF905 ......................................................................................................................... 32 NRF905 接口電路管腳說(shuō)明 .............................................................................. 32 NRF905 的運(yùn)行模式 .......................................................................................... 34 NRF905 的編程流程 .......................................................................................... 34 NRF905 的時(shí)序 .................................................................................................. 35 直流電機(jī) ...................................................................................................................... 37 直流電機(jī)的驅(qū)動(dòng) ................................................................................................ 37 直流電機(jī)的控制 ................................................................................................ 38 舵機(jī) .............................................................................................................................. 39 本章小結(jié) ...................................................................................................................... 39 4 整體調(diào)試 ................................................................................................................................ 41 硬件調(diào)試 ....................................................................