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摘要本文提出了一种四轮旋转式的移动机器人，描述了该机器人的整体设计方案，包括整体的机械结构设计，传动机构设计，硬件电路设计，程序设计，核心控制芯片、传感器、直流减速电机、舵机的选型、工作原理的介绍及具体的控制方案。对移动机器人进行简单的数学建模，从理论上验证其在运动过程中，通过内部传感器实现相对定位的可行性。选用DSP28335作为控制芯片，应用TI公司开发的CCS4.2进行软件编程，实现机器人的移动功能。利用四轮同步旋转的机构和超声波距离检测，模拟汽车在无需倒车的情况下直接侧向入库。并提出了以该机器人模型为载体，从设定的起始点开始移动，通过内部传感器即编码盘反馈和舵机角度开环控制进行相对定位，实时反馈所处坐标，直至到达设定XY坐标的终点，并在移动过程中实现简单的超声波避障功能的整体方案。28949
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关键词： 移动机器人 超声波避障 全向运动 侧向停车 DSP28335 舵机
毕业设计说明书外文摘要
Title The design and implementation of the four-wheel rotary mobile robot
Abstract
A four-wheel rotary mobile robot is proposed in this paper. The overall design scheme of the robot is described, including the overall structural design, the transmission mechanism design, hardware circuit design, program design, the selection of the core control chip, sensor, dc gear motor, steering engine, the introduction of working principle and specific control-scheme. A simple mathematical model of the mobile robot was established, the feasibility of the realization of relative positioning through internal sensor during the movement was verified theoretically. DSP28335 was chosen as the control chip, CCS4.2 which is developed by TI was used for software programming, thus the movement of the robot was achieved. By the use of the four synchronous rotating wheels and ultrasonic distance testing, the mobile robot could laterally move into the garage directly without back it. A overall plan was proposed that, taking this robot as a carrier, the moving path started from the given the starting point, relative position of the robot was determined by the feedback of internal sensor or coding plate and the open-loop control of the steering engine, thus the real-time coordinates position would be received until reaching the set x, y coordinates position, in addition, the function of ultrasonic obstacle avoidance would be achieved during the movement.
Keywords mobile robot; ultrasonic obstacle avoidance; Omnidirectional movement; laterally parking; DSP28335; steering engine
目 次
1 引言 1
1.1 国内外研究现状 1
1.2 课题研究的内容和意义 2
2 机械结构设计 4
2.1 机械本体 4
2.2 传动机构 4
2.3 机械零部件尺寸的设计 6
2.4 3D打印技术 6
2.5 小车底板与顶板的设计 8
2.6本章小结 10
3 机器人总体系统设计 11
3.1四轮旋转式移动机器人数学模型 11
3.2 移动机器人驱动系统 12
3.3控制芯片DSP28335 14
3.4超声波测距模块 16
3.5硬件总体设计 17
3.5.1 电源模块 19
3.5.2超声波测距模块接线 19
3.5.3电机驱动模块接线 20