超声波导航履带式移动机器人小车设计【毕业论文+CAD图纸全套】.doc

摘 要 本设计的研究内容是超声波导航履带式移动机器人小车的研究设计，其核心内容是应用单片机控制电机实现机器人小车的左转弯、右转弯、前进和停止等动作。 论文内容包括四个部分：简要介绍了移动机器人研究背景、意义、现状及发展前景，超声波导航履带式移动机器人小车的设计原理及方案，机械部分的结构设计，控制系统设计和视觉系统设计。论文详细地介绍了移动机器人机械部分的结构设计。 设计小车利用履带式底盘作为机械装置，采用双驱控制，加装超声波传感器、控制电机，编码器等装置实现对电动车的速度、位置、运行状况的实时测量，并将测量数据传送至单片机进行处理，然后由单片机根据所检测的各种数据实现对电动车的智能控制。 主要设计内容包括： 1.机械结构设计：机器人采用两轮独立驱动的履带结构，动力源采用直流无刷电机，减速和传动装置采用齿轮传动，利用差速移动平台实现机器人的转向，选用增量式光电编码器进行对机器人速度的检测，实现机器人的定位。 2.控制结构设计：控制部分采用AT80F51型号单片机进行接受命令和产生驱动信号，电机的驱动部分采用L298控制芯片，芯片利用接受到的单片机发出的信号来控制电机的转速。 3. 传感器部分：利用超声波传感器，送至上位机进行声波处理 关键词：移动机器人，运动控制，单片机控制，超声波系统 Abstract The design of the study content is Ultrasonic navigation of mobile robot car USES the core content of study design, application of single-chip microcomputer control motor is the robot car turn left, right, forward and stop such action. Includes four parts: the paper briefly introduced the mobile robot research background, significance, the present situation and development prospect, visual navigation crawler mobile robot car design principles and schemes of the structure design, mechanical parts, control system design and visual system design. Paper introduced in detail the mobile robot mechanical parts of the structure design. Car chassis design using a mechanical device USES, adopt double drive control, add the Ultrasonic navigation, control motor, electric coder to the device such as position, velocity, the operation condition of real-time measurement, and the measured data transfer process, then by single-chip microcontroller according to test data of intelligent control of electric cars. Main contents include: 1 mechanical structure design: use two rounds independent robots driven by caterpillar structure, brushless dc motor for electric power transmission device, the deceleration and by using differential gears, mobile robots platform to choose the solid-axes photoelectric encoder and the detection rate of robot, robot localization. 2 control structure design: the control part AT80F51 single-chip model f