【作者】 雷永锋；

【导师】 卢博友；

【作者基本信息】 西北农林科技大学 ， 农业电气化与自动化， 2008， 硕士

【摘要】 随着社会的进步和科技的发展,机器人产品开始进入到生产过程和日常生活中,各种类型的机器人在特定的工作环境下发挥着越来越重要的作用。但是目前对于移动式机器人多采用轮式移动机构,在适应复杂地形时无法满足路况的要求,由此设计一种灵活的、行走平稳和对路况适应性强的机器人成为解决此类问题的关键。本文研究的六足仿生机器人是结合了仿生学原理和机器人技术而设计的一种多足微型机器人。根据昆虫运动时采用的三角步态走法设计了机器人的腿部五连杆行走机构,并对其进行了占空比、稳定性、转弯状态等分析。硬件控制芯片采用Atmel公司生产的AVR系列微控制器ATmega8515L,通过对其端口设计,配备相应的外围电路,由程序来控制机器人的动作。本论文设计的机器人具有自主行走和避障功能。安装在机器人前端的红外传感器探测前方的环境,如果没有障碍物就直达目标点;如果有障碍物就进行避障,通过路径选择最终到达目标点,无法避障时执行急停命令。红外传感器将探测信号传递到微控制器芯片中,控制程序确定下一步行动的方向,安装在机器人两侧的直流伺服电机实施转弯及急停。两个直流电机的启停或速率改变决定机器人转动的方向。最后由安装在直流电机上的机器人腿部五连杆机构执行转弯行为。机器人采用模糊控制和虚拟力场相结合的控制算法。虚拟力场法将机器人前方目标点和障碍物产生的引力和斥力经过计算后,产生的合力方向决定机器人的行走路径。在利用人工势场法获得障碍物的信息后,机器人通过对障碍物之间的距离和角度差论域的模糊化确定机器人控制输出的模糊规则表,再由模糊查表程序实现机器人下一步的动作。最后通过CodeVisionAVR编译环境编译调试了机器人避障程序。实验结果证明运行良好,可以实现机器人的避障等功能。更多还原

【Abstract】 With progress of society and the development of technology, more and more robots are entering the production process and daily life; various robots are playing an increasingly important role in the particular work environment. But now the mobile robots are mostly multi-wheeled, which are inefficient in in adapting to the complex terrain conditions. So designing a robot with good flexible, smooth movement and strong adaptability has been the kay in solving such a key problem.In this paper a bionic hexapod robot designed in combination with the principle of bionics and robotics. The five-linkage walking mechanism of the robot is designed, based on the tripod gait movement of insect, together with analysis of its duty cycle, stability, turning state.The ATmega8515L chip of Atmel AVR series was selected as the hardware control chip. And the robot movement control was conducting by software by combination of the port design and peripheral circuit. This robot is capable of independent walking and obstacle avoidance. The infrared sensors installed in front of the robot detects the front environmental, the target is reached directly when no obatacle was detected, and the detected obstacles will be avoided before the target is attained, and an urgent stop will be implemented when the obstacle was difficult to avoid. The infrared sensors sends the detected signals to the micro-controller chip, control procedures determine the next step in the direction, The DC servo motor installed on both sides of the robot are incharge of turining and urgent stop throuth atart/stop and rate change. Finally, The five-linkage walking mechanism of the robot accomplishes the turing movement.The algorithm of fuzzy control and virtual force field are integrated in the robot control theory. The gravity and repulsion generated by the target and obstacle are calculated in the virtual force field, and the direction of the robot walking path will be decided by the resultant force. The information of barrier is gained by the using the artificial potential field,, the robot through the barriers of distance and angle between the poor domains of fuzzy set of robot control the output of fuzzy rules table, checking the fuzzy look-up table to decide the next step of action.Finally, the robot obstacle avoidance procedures are simulated under the CodeVisionAVR compiling environment compile. Experimental results show that the system functioned well,and obstacle avoidance can be realized successfully.更多还原