AT89S51单片机控制的多足爬行机器人软件设计+源程序

中文摘要机器人技术是一门涉及机械、微电子、仿生学等多种领域的新兴学科，已经对经济社会的发展产生了巨大的影响，并将有助于改善人们现有的生产生活方式。

本论文首先简要的阐述了当今机器人的发展历史和趋势。然后从整体结构设计、硬件电路部分设计、控制系统软件设计和功能扩展等方面对爬行机器人的制作过程及原理作了较为详细的剖析与设计。在整体机构设计部分详细地介绍了伺服电机（舵机）的工作原理以及六足机器人的行走步态分析，硬件电路部分设计是单片机AT89S51、电源模块及驱动器等几个部分组成。论文随后从软件部分入手详细设计了通信模块、延时模块、运动模块以及舵机控制模块等几大软件部分，并附有相应的软件和图文资料。论文中还对机器人功能扩展部分对遥控及传感器硬件原理进行了设计。该机器人的设计能够在不平的地面上行走，并附有温湿度传感器以及在某些特殊情况下实现对环境的初步探测及搜索。最后，论文提出对爬行机器人设计制作的完善和改进，并对该类型的爬行机器人的发展作了展望。50797

毕业论文关键词：六足爬行机器人；仿生学；AT89S51；无线控制；温湿度传感器。

Abstract

The robot technology is an emerging discipline involving machinery,microelectronics, bionics and other areas, it has had a huge impact on the economic and social development, and it will help to improve the existing production and lifestyle of the people.

Firstly, this thesis introduces the development and history of robots.And then made a more detailed analysis of the overall structural design, the hardware circuit part of the design, control system software design and function expansion in terms of the production process and the principle of crawling robot and design. Detailed description of the organization as a whole design part of the working principle of the servo motor (servo) and six-legged walking robot gait analysis ，the design of the hardware circuit consists of AT89S51 ,power supply module and drive components.This thesis then designs the communication module, delay module, behavior module and control module. As for the part of the extension of robot, this thesis designs the principle of remote control and sensor hardware. The practical application of the robot can walk in the rough and environment with obstacles. And temperature and humidity sensor is attached as well as the functions of surveying and searching in some exceptional circumstances, a preliminary environmental. Finally, the thesis presents how to improve the crawling robot and development of this kind of robot would be like in the future.

Keywords: Six-legged crawling robot; bionics;AT89S51; wireless control; temperature and humidity sensor.

第一章绪论 1

1.1 机器人概述 1

1.2 爬行机器人的组成 1

1.3 国内外机器人发展史 2

1.4 本次设计的任务与主要内容 3

第二章六足爬行机器人的机械机构 4

2.1 爬行机器人的驱动装置 4

2.1.1 舵机内部结构 4

2.1.2 选用的伺服马达 4

2.2 六足爬行机人的制作过程 5

2.3 所用到的元器件 6

2.4 主单片机简介 6

2.5 六足爬行机器人的电路设计 7

2.6 本章小结 AT89S51单片机控制的多足爬行机器人软件设计+源程序:http://www.751com.cn/zidonghua/lunwen_54219.html