机械自动化专业毕业论文--机器鱼本体及控制系统开发.docVIP

摘 要 本文的主要目的是设计一个观赏型机器鱼系统。相对于真鱼，机器鱼无需特别照顾，并可以与人进行交互。整个设计过程分为机械结构设计，硬件设计和软件设计。 在选择舵机作为驱动源的基础上，提出了分段式机械设计方法，将机器鱼分为头部，中部和尾部三个部分分别设计。 机器鱼的硬件部分包括电源、传感器、无线通信模块和控制电路。电源部分采用镍氢电池串联并添加稳压电路来实现。传感器用于检测障碍，采用的是红外光电传感器。对于无线通信，采用NRF24L01无线通信模块来实现。控制电路的主要作用是采集传感器的信号，控制无线模块接收数据以及通过运算控制舵机的运转，从而控制机器鱼的运动。 软件部分主要包括运动模式的选取与控制程序的设计。 经实验，机器鱼最终运动效果良好，可以正常躲避障碍物，使用遥控器可以对机器鱼进行自由遥控，达到了设计目标。 关键词：机器鱼，观赏型，分段设计，躲避障碍，遥控 ABSTRACT The main purpose of this paper is to design an Ornamental robotic fish system. Relative to the real fish, the robotic fish don’t need to be taken special care of and can interact with people. The entire design process is divided into mechanical design, hardware design and software design. On the basis of select the steering gear as the driving source, in mechanical design,. Proposed the segmental design, the robotic fish is divided into three parts of head, middle and tail and designed respectively. Head for placing the control circuit, the central place for the servo, battery and transmission, tail hasn’t internal structure. Using this, robotic fish design is more modular and easy to seal waterproof. Use the increase in stent design and erection of muscle to make the robot fish beautiful. And the design of the whole fish skin make the fish look more real. The hardware of the robotic fish include power, sensors, wireless communication module and control circuitry. For power using nickel-metal hydride batteries in series and add a voltage regulator circuit to achieve. Sensors for detect obstacles is an infrared photoelectric sensor. For wireless communication, the NRF24L01 is used. The main function of the control circuit is to collect the sensor signals, control the wireless module to receive data and control the steering operation by operation, so as to control the movement of robotic fish. The software part includes the selection of movement mode and control program design. For the movement mode, we choose the common Carangidae mode, the control program prepared based on