摘要蛇形机器人由于具有很高的运动稳定性和环境适应能力等特点，适合于在水下地下管道、凹凸不平的地面等特殊的环境中工作，开始受到国内外学者的广泛关注，因而成为机器人领域的一个新的研究热点。本论文主要是对蛇形机器人的控制部分进行研究和设计。49092

首先，对蛇形机器人的运动机理进行了分析，分析了机器蛇在运动过程中的波峰产生、波峰传递过渡、波峰传递三个阶段。

其次，在深入分析相关控制方案和驱动方式的基础上，选用舵机驱动实现关节的运动；以单片机为核心控制部件，采用分布式控制方法；运用串行同步通信方式实现上、下位机间的信息传输。设计出蛇形机器人的控制电路。

最后，在蛇形机器人硬件电路的基础上，完成蛇形机器人控制系统的程序编制。

研究了蛇的蜿蜒运动和伸缩运动，对Serpenoid曲线进行离散化处理，并对蛇型机器人的蜿蜒前进、左转和右转过程进行仿真。 

毕业论文关键词：蛇形机器人；控制系统；单片机；仿真

Abstract

Snake-like robots have many characteristics, such as strong motion stability and good environment adaptability. And these characteristics make them suitable to work under special environments, such as submarine and underground ducts, unevengrounds. So they attract the attention of scholars all over the world and become a new hot issue of research. This dissertation is mainly to research and design the control subsystem of a snake-like robot.

The movement mechanism of a snake-like robot is analyzed in this dissertation, and then three stages of a snake-like robot in motion, which are wave transmission, wave produces-transition and wave transmission, are studied in detail.

Secondly, based on thorough analysis of related control schemes and driving schemes, actuator is employed to realize the joint movement. The Microcontroller Unit is used as the core to control components, and the distributed control method is chose in the dissertation. Serial synchronous communication is used to realize the transmission of information between superior machine and lower computer. And the control circuit of the snake-like robot is designed in detail.

Finally, based on the hardware circuit of a snake-like robot, the program of snake-like robot control system is programmed.

The serpentine movement and telescopic movement of snake is studied, and Serpenoid curves are discretized, the forward movement, turn-left and turn-right movement of snake-like robot are simulated with MATLAB.

Keywords: snake-like robot; control system; Microcontroller Unit;simulation

目  录

第一章  绪论 1

1.1 课题研究背景 1

1.2 蛇形机器人的国内外研究现状 1

1.2.1 国外研究现状 1

1.2.2 国内研究现状 3

1.3 本文的主要研究内容 4

第二章  蛇形机器人的硬件电路设计 6

2.1 蛇形机器人运动机理 6

2.1.1 波峰产生阶段 6

2.1.2 波峰传递过渡阶段 6

2.1.3 波峰传递阶段 7

2.2 驱动方案确定 8

2.3 控制方案的确定 9

2.4 蛇形机器人控制系统的结构 11

2.5 通信方式选择 12