| As the full symmetry mechanism of sphere robot BYQ-3,there is no relatively stable platform inside when the robot is making movement.Camera and telemeters inside the robot will sway with the motion of framework. As a result, the data transferred by them is not accurate,which produces influence on the research on intelligent robot.To solve this problem,this paper designs a dual-axis stabilized platform used in the BYQ-3.The platform realizes the control work using dual-motors, adjusts the balance of pitch axis and roll axis to make the equipment installed on the upper frame of the robot maintain horizontal.The main contents of this article are as follows:First of all,analyze the internal structure of the spherical robot BYQ-3,find sports law of the framework when the robot is walking in straight and curve line, and then put forward the design requirements of a stabilized platform system.The active platform and passive platform are compared.The article selects the former one, and analyzes its isolation principle.Secondly, analyze realization methods of the dual-axis stabilized platform according to the isolation principle of active platform.Design mechanical system of the dual-axis stabilized platform,analyze and calculate key elements of the structure. Analyze the validity of the platform by study of the moving method and transmission relationship, model and simulate the structure in software environment.Thirdly, analyze control methods of the dual-axis stabilized platform to couple with the former structure. Determine the composition of the control system hardware circuit, focus on the analysing and designing of the servo control circuit and drive circuit, and design the whole control circuit for the platform systerm.Finally,analyze the software proposal of the dual-axis stabilized platform according to the control demand. Research on the key modules including servo control module,PID control module and interrupt processing module, write the software procedures. |
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