基于msp430f149的可分离的多形态舞蹈机器人WORD论文+软硬件设计文件.zip

上传者: GZXGYZ | 上传时间: 2021-04-12 17:05:06 | 文件大小: 4.14MB | 文件类型: ZIP
基于msp430f149的可分离的多形态舞蹈机器人WORD论文+软硬件设计文件. 2. 系统方案 在该机器人的设计中主要进行机械结构设计、驱动机构设计、驱动器及电源选择、硬件电路设计及软件算法实现等。 1、 机械部分: 稳定性、平衡性和灵活性,同时保证一定的刚度;关节连接件的设计要合适,保证机器人行动起来灵活自如,动作顺滑平稳,并且具有一定的承受负载能力;机器人重心的确定,硬件控制电路板和电池等负载如何放置,机器人对接分离时,平稳灵活 2、 动力源: 驱动源的选择在保证稳定性、平衡性和灵活性的前提下,实现低成本、低功耗。 3、 电源要求: 由于机器人的几何尺寸的限制,所以电源体积又不能过大;容量不能过小,至少满足一次完整跳舞过程;电源内阻不能过大,减小功耗;电源提供电机和逻辑电路的电压要求。 4、 硬件控制板: 1)微控器的选择要求:低功耗,处理数据快。 2)信号调理电路的要求:抗干扰性强,稳定性强。 3)稳压电路要求提供大电流,并能承受舵机转动的瞬时电流冲击。 5、软件设计: 1)实时性:在一定时间间隔内,完成一系列的软件的处理过程,所以要求所有程序必须是非阻塞程序。 2)平稳性:要保证机器人运动的平稳性必须想办法降低机器人的运动速度,即舵机的转动速度,后来采用内插法,进行舵机转速的调整。 3)连续性:为了保证所有舵机转动的快速切换,所以采用中断方式,从而保证每个舵机都可以按要求转动。 3. 系统硬件设计 硬件设计主要包括机械结构设计和硬件电路设计,再次主要对硬件电路进行介绍,机械结构设计见附录一。 (1)430最小系统

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