摘要随着计算机、电子、传感器、智能化等技术的不断发展，各种机器人发展得到了很大的改进，当前在民用、军事、科学研究等方面得到广泛的应用。车载机器人作为研究领域的一个重要分支，不但其翻越障碍物能力突出、而且对地面适应能力强、推力大、系统稳定可靠等特点，一直是国内外研究的重点之一。46493
根据设计要求，机器人采用履带式的机械结构形式，体积小巧紧凑。机器人采用对称的结构，左右两边分别采用单独的直流减速电机单独驱动履带。本文详细的介绍了机器人的关键零部件：从动轮、主动轮，并对其进行了运动稳定性的分析。
智能车载机器人一体化平台控制系统采用模块化的主从分布式结构，主控芯片在接收到上位机发送的信号之后进行判断，根据指令给从控芯片分布任务。选择STC89C52RC单片机作为信号接收发送、电机速度采集、舵机角度采集、机械手控制的核心芯片。通过TB6612FNG驱动器完成对电机、舵机的驱动；通过磁电编码器完成对电机速度的采集；通过蓝牙进行单片机与上位机之间的数据通信，其中包括控制指令、电机转速、舵机角度等数据信号。
最后理论分析了机器人的运动性能并对其爬坡、越障进行了相关实验认证。
毕业论文关键词：履带机器人；控制系统；通信
ABSTRACT With the continuous development of computer, electronics, sensors, intelligent technology, the development of a variety of robots has been greatly improved, the current civil, military, scientific research and other aspects of a wide range of applications. Tracked mobile robot as research in the field of a branch, not only the crossing obstacle ability outstanding, but also on the ground to ability, high thrust, system is stable and reliable characteristics, has been one of the focuses of the research at home and abroad.
   According to design requirements, the use of the robot crawler form the mechanical structure, compact volume. Robot uses a symmetrical structure, both sides were using separate DC geared motor drive the track alone. This paper introduces the robot key components: a driven wheel, driving wheel, and analyzes its movement stability.
   Smart Car Robot integrated platform control system uses a modular master-slave distributed architecture, the master chip after receiving the signal transmitted by the host computer to judge, to control the chip from the distribution of tasks in accordance with instructions. Select STC89C52RC microcontroller as the transmitter-receiver, collecting motor speed, steering angle acquisition, robotic control core chip. Completed by TB6612FNG drive motor, servo drive; motor speed to complete the acquisition by the magnetic encoder; MCU and data communication between the host computer via Bluetooth, which includes control instructions, the motor speed, steering angle data signal.
   Finally, the theoretical analysis of the performance of the robot movement and its climbing, obstacle conducted experiments certification.
Key words: tracked robot；control system；communicate
目    录
第一章 绪论    1
1.1车载机器人国内外发展史    1
1.2车载机器人发展趋势    1
1.3车载机器人研究背景及意义    2
第二章 车载机器人总体方案设计    3
2.1车载机器人移动方式    3
2.2车载机器人移动要求    3
2.3车载机器人移动方式选择    3
第三章 车载机器人机构设计    6
3.1车载机器人结构设计要求    6
3.2整体结构设计方案    6
3.3机构开发环境Solidworks简介    6
3.4主要零部件设计    6 车载机器人一体化平台车载部分系统设计+CAD图纸:http://www.751com.cn/jixie/lunwen_48210.html