武术擂台仿人机器人系统电路设计毕业设计论文.doc

毕业设计(论文) (填写题目) 教学单位：机电工程学院 专业名称：（填写专业全称，不要写成班级名称） 学 号： 学生姓名： 指导教师：姓名（职称） 指导单位： 完成时间：（填写全学院统一时间） 电子科技大学中山学院教务处制发 武术擂台仿人机器人系统及电路设计 摘 要 本文围绕武术擂台仿人机器人的设计，从中国机器人大赛武术擂台赛比赛规则入手，分析合理的比赛策略，系统地介绍了武术擂台仿人机器人的硬件与软件构成、技术特点以及战术策略等方面的内容，主要包括硬件设计、决策系统以及干扰与抗干扰措施。 该仿人机器人结构设计巧妙，可以通过简单的动作完成仿人形态到车形态的变形，从而有效降低重心。机器人共有7个自由度，整体重量4.19kg，高40cm，底部投影尺寸30cm*30cm，符合比赛要求。底盘骨架采用4mm*4mm*3mm镂空角铝连结，四壁采用0.8mm不锈钢板包围，结构有一定的刚性，经测试可以抵抗进攻和防守中发生的激烈冲撞。 传感器部分采用了红外开关与红外测距传感器相配合。 自行设计以Mega128为核心的通用小型机器人控制器。该控制器板载5V3A开关电源，具有RS232以及RS422总线接口，具有数字舵机接口以及模拟舵机接口，并且有设备过流保护、电源过压、欠压保护等功能。 经测试，该仿人机器人运行稳定，有较好的攻击、防御能力。 关键词:机器人武术擂台赛；仿人机器人；AVR单片机 Combat Humanoid Robot System and Circuit Design Abstract This article around the humanoid robot design, start from robot competition from Chinese robot competition rules, discuss the reasonable strategy, systematic introduction to the combat robot hardware and software, the technical characteristics and tactical strategies and other aspects, including hardware design, decision-making system and the interfere and anti-interference measures. With ingenious design of structure, the robot can simply form humanoid to vehicle deformation, and thus reduce the center of gravity. This robot has total of seven degrees of freedom, weight 4.19kg, high 40cm, and the bottom of the projection size 30cm*30cm, which is with the competition requirements. Chassis frame with 4mm*4mm*3mm hollow aluminum link 0.8mm stainless steel plate surrounded, the structure has some rigidity, were resistant to attack and defense in the fierce clash. IR switchers and IR distance sensors were compatible built in. The controller using Atmels Mega128, which onboard 5V3A Switching Power Supply. The controller have RS422 and RS232 bus interface, and the RC and digital servo interfaces, while has over-current protection, Power supply over voltage, under voltage protection. The testing experiments show that, the humanoid robot is stable, and has good attack and defense capabilities.