機(jī)器人實(shí)訓(xùn)報(bào)告3

機(jī)器人模塊拆裝實(shí)訓(xùn)報(bào)告班級：學(xué)號：姓名：課程目的(1)鍛煉動(dòng)手能力和團(tuán)隊(duì)精神；(2)系統(tǒng)訓(xùn)練創(chuàng)新能力和實(shí)踐能力；(3)自主建構(gòu)工科基礎(chǔ)知識。(4)自主創(chuàng)新，培養(yǎng)創(chuàng)新意識課程內(nèi)容1、用AS-UII型機(jī)器人躲避障礙2、用AS-EI型機(jī)器人組建工業(yè)機(jī)械手臂3、用AS-EI型機(jī)器人組建消防車云梯方案設(shè)計(jì)用AS-UII型機(jī)器人躲避障礙利用紅外線原理檢測機(jī)器人前方是否障礙物擋道，如果有的話就直接左拐或者右拐，從而避免碰撞。用AS-EI型機(jī)器人組建工業(yè)機(jī)械手臂利用齒輪運(yùn)行的原理來帶動(dòng)工業(yè)機(jī)械手臂完成各個(gè)動(dòng)作，通過電機(jī)來帶動(dòng)齒輪的運(yùn)轉(zhuǎn)，由于電機(jī)轉(zhuǎn)速過快不易帶動(dòng)齒輪運(yùn)轉(zhuǎn)，所以用AS-EI型機(jī)器人里的1：1模塊和1：5模塊來實(shí)現(xiàn)電機(jī)的減速，使電機(jī)產(chǎn)生更大的動(dòng)力來運(yùn)轉(zhuǎn)齒輪，由于帶動(dòng)的東西不同，所以所需的1：5減速模塊不同，所以在不知能否帶動(dòng)的情況得一個(gè)個(gè)加1：5減速模塊，通過電機(jī)運(yùn)轉(zhuǎn)來確定所需模塊數(shù)。工業(yè)機(jī)械手臂采用四個(gè)電機(jī)通過正反轉(zhuǎn)來實(shí)現(xiàn)8個(gè)動(dòng)作,實(shí)現(xiàn)手臂的順轉(zhuǎn)和逆轉(zhuǎn)，上升和下降，抓取等3、用AS-EI型機(jī)器人組建消防車云梯原理于工業(yè)機(jī)械手臂一致，利用齒輪運(yùn)行的原理，通過電機(jī)來帶動(dòng)齒輪的運(yùn)轉(zhuǎn)，用AS-EI型機(jī)器人里的1：1模塊和1：5模塊來實(shí)現(xiàn)電機(jī)的減速，使電機(jī)產(chǎn)生更大的動(dòng)力來運(yùn)轉(zhuǎn)齒輪，消防車云梯也是采用四個(gè)電機(jī)通過正反轉(zhuǎn)來實(shí)現(xiàn)6個(gè)動(dòng)作，實(shí)現(xiàn)消防車的前進(jìn)和后退，云梯的順轉(zhuǎn)和逆轉(zhuǎn)，上升和下降，創(chuàng)造靈感來自于AS-EI型機(jī)器人里像升降梯的零件，結(jié)合車子的原理改造而成實(shí)現(xiàn)結(jié)果1、用AS-UII型機(jī)器人躲避障礙流程圖注：AS-UII型機(jī)器人有左右兩個(gè)紅外感應(yīng)器，當(dāng)左紅外感應(yīng)器測得有障礙物時(shí)右轉(zhuǎn)，如果沒有障礙物時(shí)測左紅外感應(yīng)器，有障礙物時(shí)左轉(zhuǎn)，如果都沒有障礙物時(shí)前進(jìn)程序編程intir_1=0;voidmain(){while(1){ir_1=ir_detector();if(ir_1==4){drive(0,80);wait(0.100000);stop();}else{ir_1=ir_detector();if(ir_1==4){drive(0,80);wait(0.100000);stop();}else{ir_1=ir_detector();if(ir_1==2){drive(0,-82);wait(0.100000);stop();}}}drive(80,0);wait(0.500000);stop();tone(523.200012,0.250000);}}2、用AS-EI型機(jī)器人組建工業(yè)機(jī)械手臂機(jī)械手流程圖機(jī)械手程序編程intmd_1=0;intmcm_1=0;intmcd_1=0;voidmain(){while(1){md_1=read(0x4000);if((md_1&0b1)==0b0){mcm_1=(mcm_1&0b11111100)|0b11;write(0x4000,mcm_1);mcd_1=(mcd_1&0b1110)|0b1;write(0x5000,mcd_1);}else{md_1=read(0x4000);if((md_1&0b10)==0b0){mcm_1=(mcm_1&0b11111100)|0b1;write(0x4000,mcm_1);mcd_1=(mcd_1&0b1110)|0b1;write(0x5000,mcd_1);}else{md_1=read(0x4000);if((md_1&0b100)==0b0){mcm_1=(mcm_1&0b11110011)|0b1100;write(0x4000,mcm_1);mcd_1=(mcd_1&0b1110)|0b1;write(0x5000,mcd_1);}else{md_1=read(0x4000);if((md_1&0b1000)==0b0){mcm_1=(mcm_1&0b11110011)|0b100;write(0x4000,mcm_1);mcd_1=(mcd_1&0b1110)|0b1;write(0x5000,mcd_1);}}}}md_1=read(0x4000);if((md_1&0b10000)==0b0){mcm_1=(mcm_1&0b11001111)|0b110000;write(0x4000,mcm_1);mcd_1=(mcd_1&0b1110)|0b1;write(0x5000,mcd_1);}else{md_1=read(0x4000);if((md_1&0b100000)==0b0){mcm_1=(mcm_1&0b11001111)|0b10000;write(0x4000,mcm_1);mcd_1=(mcd_1&0b1110)|0b1;write(0x5000,mcd_1);}else{md_1=read(0x4000);if((md_1&0b1000000)==0b0){mcm_1=(mcm_1&0b111111)|0b11000000;write(0x4000,mcm_1);mcd_1=(mcd_1&0b1110)|0b1;write(0x5000,mcd_1);}else{md_1=read(0x4000);if((md_1&0b10000000)==0b0){mcm_1=(mcm_1&0b111111)|0b1000000;write(0x4000,mcm_1);mcd_1=(mcd_1&0b1110)|0b1;write(0x5000,mcd_1);}else{mcm_1=(mcm_1&0b0);write(0x4000,mcm_1);mcd_1=(mcd_1&0b1110);write(0x5000,mcd_1);}}}}}}機(jī)械手實(shí)物照片3、消防車流程圖程序編程intmd_1=0;intmcm_1=0;intmcd_1=0;voidmain(){while(1){md_1=read(0x4000);if((md_1&0b1)==0b0){mcm_1=(mcm_1&0b11110000)|0b1111;write(0x4000,mcm_1);}else{md_1=read(0x4000);if((md_1&0b10)==0b0){mcm_1=(mcm_1&0b11110000)|0b101;write(0x4000,mcm_1);}else{md_1=read(0x4000);if((md_1&0b100)==0b0){mcm_1=(mcm_1&0b11001111)|0b110000;write(0x4000,mcm_1);}}}md_1=read(0x4000);if((md_1&0b1000)==0b0){mcm_1=(mcm_1&0b11001111)|0b10000;write(0x4000,mcm_1);}else{md_1=read(0x4000);if((md_1&0b10000)==0b0){mcm_1=(mcm_1&0b111111)|0b11000000;write(0x4000,mcm_1);}else{m