北京理工大学珠海学院 2016 届本科生毕业设计基于 STM32 的六足仿生机器人-控制系统设计基于 STM32 的六足仿生机器人-控制系统设计摘 要随着机器人的发展日新月异，各个行业和领域对机器人的要求和需求也日益增长。近十几年来，由于六足仿生机器人在勘测领域的作用显著，其发展尤为迅速。这种新型的足式机器人，借鉴了自然界中诸如蜘蛛，螳螂等昆虫的行进步态和肢体结构，使其在崎岖、松软等复杂地形上行进时，比起履带式或者轮式的机器人更加地稳定灵活，能更好对应勘测，探索等方面的工作。本 文 主 要 研 究 六 足 仿 生 机 器 人 的 控 制 系 统 的 实 现 。 通 过 采 用STM32F103VCT6 作为控制器，用蓝牙通讯控制与腿部结构相连接的舵机从而实现手控机器人的行进，并简单实现自动行进，超声波避障和拍照功能。关键词：六足仿生机器人；STM32F103VCT6；控制系统；舵机 sg90；北京理工大学珠海学院 2016 届本科生毕业设计Design of Hexapod robot control system based on STM32AbstractWith the rapid development of robots, the requirements and demands of robots in various industries and fields are increasing day by day. In recent decades, the hexapod robot has developed particularly rapidly due to its significant role in the field of surveying. The new foot-like robot borrows from the gait and limb structure of natural insects such as spiders and mantids, allowing it to navigate rough, soft and complex terrain, compared with the tracked or wheeled robot, it is more stable and flexible, and can better correspond to the exploration and exploration work. This paper mainly studies the realization of the control system of the robot. By using STM32F103VCT6 as the controller, the steering gear connected with the leg structure is controlled by Bluetooth, and the functions of automatic moving, ultrasonic obstacle avoidance and photo-taking are realized.Keywords: Hexapod robot;STM32F103VCT6;Control system;Steering Gear SG90;北京理工大学珠海学院 2016 届本科生毕...
