基于LPC2132的蛇形机器人前端执行机构及控制系统设计

西安科技大学 电气与控制工程学院,陕西 西安 710054

蛇形机器人; 执行机构; LPC2132; 舵机; RF

Design of snake-like robot front end actuator and control system based on LPC2132
LI Hong-yan,HOU yuan-bin

(College of Electrical and Control Engineering,Xi'an University of Science and Technology,Xi'an 710054,China)

snake robot; actuator; LPC2132; servo; RF

DOI: 10.13800/j.cnki.xakjdxxb.2016.0218

备注

为了使蛇形机器人在不同地形环境下能更好地完成搜救任务,文中根据蛇形机器人的特点,从总体上设计了一种新型的前端执行机构。针对传统的蛇形机器人头部只有搜寻传感器无执行器的缺点,提出采用4自由度的正交机械臂作为前端执行器的方法,并以ARM7-LPC2132为控制器、L298N为电机驱动模块、液晶屏12864为人机交互界面搭建了系统的硬件平台。通过无线路由器WR703n可将天敏S608摄像头数据传至上位机进行视频监控、上位机可通过NRF24L01无线数传模块对下位机进行实时控制、温度测量、烟雾报警、机械臂除障等功能,从而可以进行复杂地形及位置领域的探测。系统程序软件采用C语言及C#编写。系统经过调试,可以实现对障碍物的夹取和搬运等预定功能。无线遥控距离可以达到100 m,而且通信效果稳定可靠。

In order to make the snake-like robot can better perform search and rescue missions in different terrain environment,according to the characteristics of the snake-like robot,a new front end actuator was designed.According to the faults of traditional snake-like robot head only has sensor without actuator,the method of 4 degree of freedom is proposed as the front end effector,the hardware platform is built with ARM7-LPC2132 as the controller,L298N as the motor driving module and LCD screen 12864 as the man-machine interface.Through a wireless router WR703n Mortimer S608 camera data can be transferred to the host machine.By the wireless data transmission module the host machine can real-time control the lower machine,temperature measurement,smoke alarm,mechanical arm in addition to the barrier,which can perform complex terrain and device field detection.The program is written by C and C# language.After debugging,the function of the clamping and handling of the obstacle etc.can be achieved.The wireless remote control distance can reach 100 meters,and the communication effect is stable and reliable.