北京理工大学珠海学院2020届本科生毕业设计六足机器人机电控制系统设计及仿真六足机器人机电控制系统设计及仿真摘要六足仿生机器人可以代替人类在各种不适宜的环境中进行探测和救援。它属于是一种仿生足式机器人，并且具有良好的性能。六足仿生机器人的稳定特征可以用于一些未来的太空探索、灾区搜救、人类活动和生活的其他方面，代替人类完成一些高风险和繁琐困难的任务，为减轻人类的负担，帮助科学技术的发展。该毕业设计是通过根据其预定功能设计电路原理图，并连接各种功能模块（如单片机和光电传感器以及舵机等）而设计的自行设计的仿生机器人的框架是支撑平台。在六足仿生机器人的控制操作方向上，选择通用的廉价单片机作为软件开发平台，以转向控制舵机作为中间控制模块来控制机械足的操作和运行。关键词：六足机器人；单片机；控制系统；程序编程北京理工大学珠海学院2020届本科生毕业设计DesignandSimulationofelectromechanicalcontrolsystemforhexapodrobotAbstractHexapodbionicrobotscanreplacehumansfordetectionandrescueinvariousunsuitableenvironments.Itbelongstoabionicfootrobotandhasgoodperformance.Thestablecharacteristicsofthehexapodbionicrobotcanbeusedinsomefuturespaceexploration,searchandrescueindisasterareas,humanactivitiesandotheraspectsoflife,replacinghumanstocompletesomehigh-risktediousanddifficulttaskstoreducehumanburden,helpscienceandTechnologydevelopment.Thisgraduationdesignisbasedonthepre-setfunctionaldesigncircuitschematicdiagram,andconnectseachfunctionalmodule(suchassingle-chipmicrocomputer,photoelectricsensor,servo,etc.)fordesign.Theframeoftheself-designedbionicrobotisthesupportingplatform.Inthecontroloperationdirectionofthe北京理工大学珠海学院2020届本科生毕业设计hexapodbionicrobot,thegeneralcheapsingle-chipmicrocomputerwasselectedasthesoftwaredevelopmentplatform.Keywords:Hexapodrobot;singlechipmicrocomputer;controlsystem;programprogramming目录1绪论.............................................................................................................................11.1本设计的背景及意义....................................................................................................11.2本设计在国内外的发展概况及存在的问题................................................................21.3本设计应解决的主要问题............................................................................................42方案设计及系统模块的选型.....................................................................................52.1机身设计........................................................................................................................52.2系统模块的选型............................................................................................................72.2.1感知模块的选型..................................................................................................92.2.2微控制器的选型................................................................................................102.2.3电机驱动模块的选型........................................................................................112.2.4电源模块............................................................................................................133仿真硬件电路设计...................................................................................................153.1Proteus软件..................................................................................................................153.1.1软件功能介绍..........................
