目 录
1 设计概述 ....................................................................................................................................................2
1.1 作品特性 ...................................................................................................................................................2
1.2 系统概述 ...................................................................................................................................................2
1.3 控制原理设计 ...........................................................................................................................................2
1.4 总体框图 ....................................................................................................................................................3
2 硬件设计 ....................................................................................................................................................4
2.1 机械部分 ...................................................................................................................................................4
2.1.1 击剑机器人的下肢机械设计 .................................................................................................................5
2.1.2 防守性击剑机器人双脚的运动设计 .....................................................................................................6
2.1.3 下肢关节的设计 .....................................................................................................................................8
2.1.4 腰部转动的设计 .....................................................................................................................................9
2.1.5 上身即手臂的设计 ...............................................................................................................................10
2.2 电气部分 .................................................................................................................................................10
2.2.1 控制板 ...................................................................................................................................................10
2.2.2 最小系统 ...............................................................................................................................................11
2.2.3 直流电机的驱动 ...................................................................................................................................11
2.2.4PID 算法的研究 .....................................................................................................................................16
2.2.5PWM 算法的应用..................................................................................................................................20
2.2.6 测速电路设计 .......................................................................................................................................21
2.2.7 电源的设计 ...........................................................................................................................................22
2.2.8 按键的设计 ...........................................................................................................................................22
2.2.9 在线代码下载电路 ...............................................................................................................................23
3 软件设计 ............................................................................................................................................24
3.1 流程图设计 .............................................................................................................................................24
3.2 子程序的编写 .........................................................................................................................................25
4 结论与心得 ..............................................................................................................................................33
谢 辞 ............................................................................................................................................................35
参考文献 ........................................................................................................................................................36
附录 1 .............................................................................................................................................................37
总电路图 ........................................................................................................................................................37
附录 2 .............................................................................................................................................................38
总机械图 ........................................................................................................................................................38
附录 3 .............................................................................................................................................................39
总程序 ............................................................................................................................................................39
附录 4 .............................................................................................................................................................43
关于 2590 芯片的说明..................................................................................................................................43
附录 5 .............................................................................................................................................................45
AT89C51/AT89S52 性能简介......................................................................................................................45
附录 6 .............................................................................................................................................................47
遥控介绍 ........................................................................................................................................................47
