生物医学机器人控制系统设计毕业论文

 2021-04-07 01:04

摘 要

如今的科学技术变更用日新月异来形容毫不夸张,作为机械电子工程领域的集大成者,机器人技术正得到越来越多的关注和发展,机器人进入寻常百姓家已成为一种趋势,在各行各业发光发热已成必然。在生产力日益提高,社会经济水平稳定上涨的当今社会,医疗服务领域亟需机器人来代替护士或者医生做一些护理、物品传递的工作。甚至可以利用机器人的高精度和高稳定性,在医生的操作之下进行高难度的手术,避免因人为失误而造成的医疗事故,提高手术的安全性。

本课题按照机器人大赛的规则,运用灰度循迹传感器实现小车的循迹功能,保证机器人小车在检测到地面轨迹标志时能够直线运行,避免出现方向失控的情况。与此同时,利用GP2Y0A21YK0F测距传感器,使机器人拥有一定的避障功能。采用DsPIC33EP256MU810数字信号控制器。

此课题具体工作如下:用DSC构建一种医疗服务机器人的自动控制系统,功能包括测距、循迹、直流电机驱动等等。要求实现以最快的速度完成竞赛规定的要求。直流电机通过芯片PWM驱动,测距功能的实现可以安装GP2Y0A21YK0F红外传感器。要求设计其硬件电路,并用MPLAB C30编写相应的控制程序。

关键词:循迹;电机驱动;DSC;硬件电路;控制程序

Design of control system for biomedical robot

ABSTRACT

There is no exaggeration that technology has changed rapidly.Robot technology,as a comprehensive application technology in the field of Mechanical and Electronic Engineering,is gaining more and more attention and development. It is inevitable that robot will be use in ordinary families and widely applied in all professions and trades.In modern society where productivity is increasing and social economy is rising steadily,it is urgent to substitute nurses or doctors with robots for some work such as medical care and the delivery of articles. Also, taking advantage of the high precision and high stability of the robot,doctors can use robots to perform difficult operations to improve the safety of operations and avoid medical accidents caused by human errors.

This project ,according to the rules of the Robot Competition,aims to realize the tracing function of the vehicle with the gray-scale trace sensor .The tracing function is used to ensure that robot vehicle can run in a straight line when the sensor detects track signs on the ground,thus avoiding the case that the vehicle loses the control of direction.At the same time,I choose the distance measuring sensor to make the vehicle equipped with the avoidance function and DsPIC33EP256MU810 as Digital Signal Controller.

The specific work of this project is to build an automatic control system of medical service robot which based on DSC,including the distance measuring,tracing,DC motor driving and other functions. The vehicle should complete the game as fast as possible,to meet this requirement,the DC motor can be powered by PWM signals produced by DSC.Applying the infrared sensor(GP2Y0A21YK0F) to realize the function of measuring distance. In addition,the design of hardware circuit and control program which written with MPLAB C30 are also necessary.

Key words:Tracing;Motor drive;DSC;Hardware circuit;Control program

目 录

1 绪论 1

1.1 课题的研究背景 1

1.2 课题的研究意义 2

1.3 国内外研究概况 2

1.3.1 国内生物医学机器人研究现状 2

1.3.2 国外生物医学机器人研究现状 2

1.4 研究内容和方案 3

1.5 本章小结 3

2 总体设计 4

2.1 需求分析 4

2.2 芯片DsPIC33EP256MU810 4

2.2.1 DsPIC33EP256MU810引脚图 4

2.2.2 DsPIC33EP256MU810功能分析 6

2.3 生物医学机器人控制系统总体设计 6

2.4 课题工作 6

2.5 江苏省机器人大赛生物医学技术挑战赛比赛规则 7

2.6 本章小结 8

3 硬件设计 10

3.1 传感器的选用 10

3.2 电源设计 10

3.2.1 外设电源 10

3.2.2 舵机电源 12

3.2.3 DSC电源 13

3.3 测距模块 14

3.3.1 红外测距传感器 14

3.3.2 A/D转换 15

3.4 循迹模块 17

3.5 电机的选型及其驱动模块 17

3.5.1 电机选型 18

3.5.2 电机驱动模块 18

3.6 舵机的选型及其驱动模块 21

3.6.1 舵机的选型 21

3.6.2 舵机驱动模块 21

3.7 本章小结 22

4 生物医学机器人控制系统软件设计 23

4.1 DSC芯片开发环境的建立 23

4.1.1 MAPLAB IDE集成开发环境 23

4.1.2 C30编译器 23

4.1.3 在线调试 24

4.2 硬件调试 24

4.3 系统整体流程图 24

4.4 机器人动作及其程序控制原理 26

4.5 程序列表及其功能 29

4.6 A/D转换流程图 30

4.7 本章小结 31

结 论 32

参考文献 33

附录一 程序 35

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