2015中国工程机器人大赛暨国际公开赛（RoboWork）机器人搬运工程技术报告参赛学校：华北电力大学队伍名称：冲队参赛队员：黄瑞托吴秋淑李梦带队教师：房静二〇一五年七月关于技术报告使用授权的说明本人完全了解2015中国工程机器人大赛暨国际公开赛（RoboWork）关于保留、使用技术报告和研究论文的规定，即：参赛作品著作权归参赛者本人和比赛组委会共同所有，比赛组委会可以在相关主页上收录并公开参赛作品的设计方案、技术报告以及参赛机器人的视频、图像资料，并将相关内容编纂收录在组委会出版论文集中。参赛队员签名：带队教师签名：日期：引言本文设计的搬运机器人以STM32单片机系统为核心控制单元，通过RPR220光电传感器识别并反馈赛道信息，通过两个PARALLAX舵机以及万能算法控制搬运机器人的运动角度、方向及转速，通过控制钩子的升降实现物料的抓取与放置。将循迹模块、光电管模块、取物模块等功能模块集于一体，算法采用比例控制思想进行编程，通过对控制器的C语言编程，能够灵活地实现物料的搬运。实验结果表明，该系统设计方案确实可行。关键字：STM32；RPR220；PARALLAX；C语言ABSTRACTInthispaperwewilldesignaHandlingrobotsystembasedonSTM32SCMsystem.Inordertorecognizeandfeedbacktheinformationofracingtrack,RPR220sensorhasbeenemployedinoursystem.Besides,controllingtheangle,directionandspeedisjusttakinggoodadvanceofthetwoPARALLAXstringenginesanduniversalalgorithm.Atthesametime,throughcontrollingtheriseandfallofthehookthatismadeofsteelwirewemanagetoconductthetaskoftheobjects’fetchandsetting.Themoduleoftracking,sensorandfetchingaresetinabody,whichhasadoptedtheideologyofproportioncontrol.Obviously,itisflexibleforoursimpledesigntorealizethecarryofobjectsviaCprogramminglanguageofthecontroller.TheexperimentalresultsindicatethatourdesignschemeoftheHandlingrobotsystemistrulyfeasible.Keywords：STM32；RPR220；PARALLAX；C目录绪论................................................................................................................................7INTRODUCTION..........................................................................................................81系统总体设计..........................................................................................................101.1系统概述..............................................................................................................101.2整体布局..............................................................................................................142机械系统设计与实现..............................................................................................192.1万向轮..................................................................................................................192.2舵机......................................................................................................................192.3铜柱......................................................................................................................233硬件系统设计及实现..............................................................................................243.1硬件设计..............................................................................................................243.1.1RPR220传感器.................................................................................................243.1.2ALIENTEKMiniSTM32......................................................................................243.1.3开发板使用注意事项..............................................................
