基于STM32的物联网体感控制机械臂

摘要

随着我国微型电子技术和嵌入式系统的发展，目前行业内相对比较传统的机械臂无法满足客户的需求。为了改进传统机械臂在控制上得短板问题，在本次毕业设计中，将使用相对先进、快捷、智能的控制机制。该系统的控制大脑为核心控制器32系列嵌入式开发系统，主要采用数字控制技术，将输入的连续模拟电压信号转换成离散的数字信号，实现无线控制。该基于STM32单片机的机械臂具有智能控制、无线传输等功能，而且性价比高、度准确、能耗较低、制作简易、使用方便快捷等特点，给人民生活带来了很大的影响，在市场上很受欢迎。

本设计的技术点主要在于STM32的PWM输出和STM32对MPU6050的信号接收。设计内容需要STM32微处理器、数字舵机、无线模块、MIPU6050等器件，提供基于STM32的PWM技术的数字舵机控制系统和STM32对MPU6050的信号接收与转换系统。统采用STM32为核心，在Keil Uvision4的开发环境下进行编程。

基于单片机STM32区别于51单片机，所以针对STM32各部分功能进行了系统型简介。内容精简易懂，明确了重点内容，保障STM32的入门，零基础也可以开发。

该智能控制系统设计主要从国内外发展状况，硬件控制部件选择，根据控制原理绘制硬件电路，控制系统软件程序设计开发等方面进行详细讲解。该控制系统使用STM32嵌入式开发系统、无线控制部分、数字舵机等组成智能机械臂控制系统。

关键词：MPU6050传感器；机械臂；STM32；数字舵机；单片机

Abstract

With the development of micro electronic technology and embedded system in China, the traditional manipulator in the industry can not meet the needs of customers. In order to improve the traditional mechanical arm in the control of the shortcomings of the problem, in this graduation project, will use relatively advanced, fast, intelligent control mechanism. The control brain of the system is the core controller of the 32 series embedded development system, which mainly uses digital control technology to convert the input continuous analog voltage signal into discrete digital signal to achieve wireless control. The mechanical arm based on STM32 microcontroller has intelligent control, wireless transmission and other functions, and has the characteristics of high cost performance, accuracy, low energy consumption, simple production, convenient and fast use, which has brought a great impact on people's life and is very popular in the market.

The technical point of this design mainly lies in the PWM output of STM32 and the signal receiving of STM32 to MPU6050. The design content needs STM32 microprocessor, digital steering gear, wireless module, MIPU6050 and other components to provide digital steering gear control system based on STM32 PWM technology and SIGNAL receiving and conversion system of STM32 to MPU6050. The system uses STM32 as the core and is programmed in Keil Uvision4 development environment.

Based on the STM32 MCU is different from 51 MCU, so the function of each part of STM32 system is introduced. The content is simple and easy to understand, clear the key content, guarantee the entry of STM32, zero foundation can also be developed.

The intelligent control system design mainly from the domestic and foreign development, the choice of hardware control components, according to the control principle to draw the hardware circuit, control system software program design and development, etc. The control system is composed of STM32 embedded development system, wireless control part and digital steering gear.

Keywords: MPU6050 sensor; Mechanical arm; STM32; Digital steering gear; Single chip microcomputer

摘要... 2

第一章 绪论... 5

1.1 研究课题背景... 5

1.2 国内外发展概况... 7

1.3 课题研究的目的... 8

1.4 课题的研究内容及章节安排... 9

第二章 机械臂控制系统的设计方案... 11

2.1 设计任务及要求... 11

2.2 机械臂总体设计方案... 11

2.3 方案的论证与分析... 12

第三章 系统硬件部分设计... 13