【正文】 ............................................................. 7 K60 核心板圖 ........................................................................................................... 7 K60 核心板圖 ................................................................................................ 7 晶振模塊 ....................................................................................................... 7 復位模塊電路圖 ........................................................................................... 8 JTAG 接口電路 .............................................................................................. 8 舵機控制電路 .......................................................................................................... 9 核心板控制舵機的接口布局 圖 ................................................................... 9 舵機驅動電路 ............................................................................................. 10 5. 系統(tǒng)開發(fā)調試 ............................................................................................................. 11 機器人調試模式 .................................................................................................... 11 機器人動作運行模式 ............................................................................................ 12 6. 結論 ............................................................................................................................. 13 參考文獻 ............................................................................................................................... 14 第 1 頁 1. 綜述 課題的研究目的及意義 當今 21 世紀是科技快速發(fā)展的時期，機器人研發(fā)面臨著各種困難。Steering gear。s mechanical shape is designed. Then, under the SolidWorks the virtual 3D modeling is designed, the existing problems of the robot is modified. Finally, the kinematics simulation and kinematic analysis are carried. Besides, we check whether it can plete the specified action and analyze the problems of the speed, acceleration, position. Again, the control system is designed. Hardware of the control system is Freescale pany39。 關鍵詞 ： 體操機器人 ； 舵機 ；十自由度； SolidWorks； Altium Designer Gymnastics robot Abstract Gymnastics robot is a kind of humanoid robot, which is the basis for the study of humanoid robot. Gymnastics robot can not only improve our manipulative ability and practice ability, but also can enhance our innovation consciousness and innovation ability, which exercise our prehensive quality and let us more interest in the study of science and technology. On the basis of 10 degrees of freedom, the robot can acplish a number of difficult moves such as motioning with his hand, rolls, pushups and side turn. It has more degrees of freedom and mechanical and electrical integration technology such as the modern control technology and manmachine exchange technology. Nowadays gymnastics robots are mainly used for people to appreciate the use entertainment, and it will play a more and more important role in people39。采用嵌入式 C 語言，設計和調試程序，最終使機器人能過自主完成體操動作。 控制系統(tǒng)的硬件以 飛思卡爾公司的 MK60DN512ZVLQ10 芯片 為核心， 在 Altium Designer Winter 09 軟件中開始設計 體操 機器人的控制電路 。檢查是否能夠完成指定的動作 ，對速度、加速度、位置能問題進行分析。 此 次設計的體操機器人主要由機械結構和控制系統(tǒng)組成， 首先機械結構 設計 ，根據制作材料、舵機型號初步設計出 體操機器人 的機械外形，然后在 SolidWorks 下對機器人進行虛擬三維建模，對存在的問題進行修改。 它具有多自由度并集成了現代化控制技術、人機交換技術等機電一體化技術。 體操機器人不僅能夠提高我們的動手能力和實踐能力，還能增強我們的 創(chuàng)新意識和創(chuàng)新實踐能力 ，鍛煉我們的 綜合素質 ， 讓我們更熱衷于科學技術的研究 。同時也是我懂得了，再將事情坐完之前不可輕 易對此做出評價。通過這門