摘 要 本文主要描述击剑竞赛防守性机器人的制作，它有如下功能：1、能够自主表演，同时配上音乐；2、能够采纳人工控制的方式，在比剑时能更好的时时控制；3、电机采纳的是 4 线反馈直流电机，反馈电路的设计是在电机反馈的正弦信号后加个光藕，得到可识别的离散高电平，然后接入 89S52 的 I/O 口，再用软件计数，可达到精确控制。本设计由 AT89S52 为控制核心，L293D 芯片为电机驱动，2590 语音芯片为主的音乐电路，其中包括详细的机器人结构的设计，电机的选用，控制电路的设计，动作的设计，还有程序的编辑这几方面的内容。本设计的主要特点：1、作品为人形机器人，用双足支撑方式；2、能模仿击剑运动员的一些基本防守动作。关键词：AT89S52；单片机；直流电机；L293D；2590；PWM；Abstract This paper describes the produce of fencing match defence robot mainly, it has following function: 1, can act on one's own to perform , at the same time match music; 2 the way that can be with man-days controled , in than sword can more good control often; 3, what generator adopts is the 4 line feedback machines of direct current, the design of feedback circuit is to add smooth lotus root after the sine signal of generator feedback , gets the dispersed high level that can distinguish , then receives into the mouth of I/O of 89 S52 , and then uses software to count, can reach accurate control. This design is generator drive by AT89S52 to control key, L293D chip, the music circuit mainly with the 2590 chips of speech sound in which includes the design of detailed robot structure, generator choose , the design of control circuit and the design of movement still have the content of this editor few aspects of program. The major characteristic of this design: 1 works behaviour shape robot, support way with two foots; 2, can imitate some basically defence movements of fencing athlete. Key words : AT89S52; SCM; DC Motor; L293D; 25...
