【正文】 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(jī) .............................................................................................................. 7 蛇形機(jī)器人運(yùn)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(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 .................................................................................................................... 21 蛇身的整體設(shè)計及選型 .............................................................................................. 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(yùn)行模式 .......................................................................................... 34 NRF905 的編程流程 .......................................................................................... 34 NRF905 的時序 .................................................................................................. 35 直流電機(jī) ...................................................................................................................... 37 直流電機(jī)的驅(qū)動 ................................................................................................ 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 ...................................................................................................................... 41 上位機(jī)軟件調(diào)試 .......................................................................................................... 42 性能分析 ...................................................................................................................... 45 整體調(diào)試結(jié)論 ..............................................