The Design And Research Of The Gymnastic Robot And Its Control System Based On KE15Z MCU

Robotics technology integrates cutting-edge disciplines and technologies such as mechanical design,materials science,circuit electronics,servo drives,computer science,automatic control,communications.It is an integrated experimental platform for many important disciplines.This thesis takes the gymnastic robot design as the starting point,systematically expounds the mechanical design,circuit design,embedded control software design and upper computer programming software design of gymnastic robot,providing a good reference for robot research and a good experimental platform for image recognition and machine learning algorithm research.Firstly,I will introduce the current status of the development of various types of articulated robots,and in-depth understanding of their performance and characteristics.In order to meet the requirements of gymnastics robot competition,the structure and control characteristics of common gymnastics robots are studied.Bus servos are selected as power components,and an experimental platform is set up to analyze the performance characteristics of the bus servos.The angular displacement error of TS-315 servos is within 1.8°.There is no acceleration shock and speed overshoot.Through SolidWorks,the mechanical structure of the gymnastic robot is designed and its hardware circuit is designed through AltiumDesigner09.NXP's KE15 Z series microcontroller was selected to design its core circuits and peripheral circuits,including power supply circuits,MOS tube switch circuits,ZigBee serial communication circuits,servo drive circuits,analog-to-digital conversion circuits,and EEPROM external memory circuits.Secondly,the embedded robot control software and upper computer action programming software are designed.According to the control requirements of the robot and hardware circuit features,the main program of KE15 Z microcontroller,ADC interrupt service program,external memory related program,servo driver program,timer interrupt service program,ZigBee communication program,etc.are designed.The serial state machine mechanism is used to complete receiving and verifying serial data,realizing the control of position,speed and delay of multi-steering servos of gymnastics robots.Combined with the function and interface of the embedded control system,the robot is designed in the Qt integrated development environment to make programming software to simplify the process of robot action programming.After the test,the software of the upper computer transmitted the error rate to 0 through virtual serial port and serial port communication assistant,and the error rate of communication between ZigBee and KE15 Z microcontroller was less than 0.5%.Finally,based on the basic platform of the gymnastic robot,the gymnastic robot hardware circuit,embedded software,and upper computer action programming software are debugged to achieve the predetermined basic actions such as roll-over,roll-back,and rollover.After the joint debugging of the upper computer and the lower computer,the action code is downloaded to the embedded control system through the serial communication interface to achieve the desired effect.However,in the design of this gymnastics robot,intelligent technologies such as machine learning and voice recognition have not been added,and the latest technological achievements should be introduced in the ongoing upgrading of gymnastics robots.