【正文】 roduces 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) ............................................................................................ 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 接口電路管腳說明 .............................................................................. 32 NRF905 的運行模式 .......................................................................................... 34 NRF905 的編程流程 .......................................................................................... 34 NRF905 的時序 .................................................................................................. 35 直流電機 ...................................................................................................................... 37 直流電機的驅(qū)動 ................................................................................................ 37 直流電機的控制 ................................................................................................ 38 舵機 .............................................................................................................................. 39 本章小結(jié) ...................................................................................................................... 39 4 整體調(diào)試 ................................................................................................................................ 41 硬件調(diào)試 ...................................................................................................................... 41 上位機軟件調(diào)試 .......................................................................................................... 42 性能分析 .......................................