面向学科竞赛的发球机器人设计与控制
Design and control of ball serving robot for competition
张日红 1黄泽军 1朱政 1黄宇铖 2肖鸿旭1
作者信息
- 1. 仲恺农业工程学院 机电工程学院,广东 广州 510225
- 2. 仲恺农业工程学院 自动化学院,广东 广州 510225
- 折叠
摘要
以发球机器人的设计和控制为案例,涵盖机械结构设计、电子电路设计、单片机控制、机器视觉、运动学建模和控制调试等多个领域的知识综合.该机器人的机械结构主要包括捡球机构、传球机构、发球机构和底盘机构.底盘机构为机器人的移动提供动力,捡球机构用于捡取放置的待发球,结合视觉定位单元可实现待发球的准确定位和自动抓取,传球机构负责将待发传送到发球机构,由发球机构将待发球发射到目标区域.电气控制系统的主控芯片为STM32 单片机,实现对各执行机构的协调控制.经制作样机测试,该发球机器人的发球方向和速度可控.
Abstract
The design and control of a ball serving robot involve multiple fields of knowledge,including mechanical structure design,electronic circuit design,single chip microcomputer control,machine vision,kinematic modeling,control and debug-ging,etc.The mechanical structure of the robot mainly consists of a ball-picking mechanism,a ball-passing mechanism,a ball-serving mechanism,and a chassis mechanism.The chassis mechanism provides mobility for the robot.The ball-picking mechanism is used to pick up and place the balls.Combined with the visual positioning unit,it achieves accurate positioning and automatic grasping of the balls.The ball-passing mechanism is responsible for transferring the balls to the serving mech-anism,which launches the balls to the target area.The main control chip of the electrical control system is the STM32 micro-controller,which coordinates the control of various actuators.A prototype is constructed and tested,and the results show that the ball serving direction and speed of the robot can be controlled.
关键词
发球机器人/机械臂正逆解/底盘控制/单片机控制/以赛促学Key words
ball serving robot/forward and inverse solutions of manipulator/chassis control/single chip microcomputer con-trol/promoting learning through competition引用本文复制引用
基金项目
2020年广东省本科高校教学质量与教学改革工程建设项目(粤教高函[2020]19号)
2022年仲恺农业工程学院研究生教育创新计划项目(KA220160238)
出版年
2024
NETL
NSTL
万方数据