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do an tot nghiep

do an tot nghiep

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Published by api-19888224

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Published by: api-19888224 on Dec 01, 2009
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03/18/2014

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\u0110\u1ed3 \u00c1n T\u1ed1t Nghi\u1ec7p
Tracked Mobile Robot
M\u1ee4C L\u1ee4C

M\u1ee4C L\u1ee4C..................................................................................................................... 1 M\u1ee4C L\u1ee4C H\u00ccNH V\u1ebc................................................................................................... 4 L\u1edcI N\u00d3I \u0110\u1ea6U.............................................................................................................. 4 T\u1ed4NG QUAN V\u1ec0 \u0110\u1ed2 \u00c1N T\u1ed0T NGHI\u1ec6P................................................................... 5 CH\u01af\u01a0NG I................................................................................................................... 6 T\u1ed4NG QUAN V\u1ec0 MOBILE ROBOT.......................................................................... 6 1.1. Gi\u1edbi thi\u1ec7u...................................................................................... . . . . . . . . . . . . . . . . . . . . . . . . 6

1.2. L\u1ecbch s\u1eed ph\u00e1t tri\u1ec3n c\u1ee7a mobile robot................................................... . . . . . . . . . . . . . . . . . . . 7
1.3. Ph\u00e2n lo\u1ea1i mobile robot........................................................................................... 9
1.4. M\u1ed9t s\u1ed1 d\u1ea1ng \u0111i\u1ec1u khi\u1ec3n mobile robot................................................................. 10
1.4.1. \u0110i\u1ec1u khi\u1ec3n t\u1eeb xa b\u1eb1ng tay............................................................................... 10
1.4.2. R\u00f4b\u1ed1t \u0111i\u1ec1u khi\u1ec3n t\u1eeb xa t\u1ef1 b\u1ea3o v\u1ec7.................................................................... 10
1.4.3. R\u00f4b\u1ed1t theo l\u1ed9 tr\u00ecnh..................................................................... . . . . . . . . . . . . . . . . . . . . 10
1.4.4. R\u00f4b\u1ed1t ng\u1eabu nhi\u00ean ho\u1ea1t \u0111\u1ed9ng \u0111\u1ed9c l\u1eadp............................................................... 10
1.5. \u1ee8ng d\u1ee5ng c\u1ee7a mobile robot................................................................................. 10
1.6. C\u00e1c lo\u1ea1i chuy\u1ec3n \u0111\u1ed9ng c\u1ee7a Mobile robot.............................................................. 14
1.6.1. Chuy\u1ec3n \u0111\u1ed9ng b\u1eb1ng ch\u00e2n(legged mobile robot)................................................. 14
1.6.2. Chuy\u1ec3n \u0111\u1ed9ng b\u1eb1ng x\u00edch (tracked mobile robot).................. . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
1.6.3. Di chuy\u1ec3n b\u1eb1ng b\u00e1nh xe. (wheeled mobile robot)............................................ 16
CH\u01af\u01a0NG II................................................................................................................ 18
V\u1ea4N \u0110\u1ec0 C\u1ee8U H\u1ed8 V\u00c0 MOBLE ROBOT D\u00d9NG X\u00cdCH......................................... 18
2.1. V\u1ea5n \u0111\u1ec1 c\u1ee9u h\u1ed9 v\u00e0 h\u01b0\u1edbng ti\u1ebfp c\u1eadn b\u1eb1ng robot...................................................... 18
2.2. \u01afu nh\u01b0\u1ee3c \u0111i\u1ec3m c\u1ee7a Mobile robot d\u00f9ng x\u00edch....................................................... 18
2.2.1. V\u1ec1 c\u1ea5u t\u1ea1o....................................................................................................... 18
2.2.2. V\u1ec1 \u0111i\u1ec1u khi\u1ec3n.................................................................................................. 19
2.2.3. V\u1ec1 kh\u1ea3 n\u0103ng linh \u0111\u1ed9ng.................................................................................... 19
2.3. Y\u00eau c\u1ea7u,nhi\u1ec7m v\u1ee5 nghi\u00ean c\u1ee9u............................................................................. 19
2.3.1. Y\u00eau c\u1ea7u........................................................................................................... 19
2.3.2. Ph\u1ea1m vi nghi\u00ean c\u1ee9u........................................................................................ 20
CH\u01af\u01a0NG III............................................................................................................... 21
\u0110\u1ed8NG H\u1eccC V\u00c0 \u0110\u1ed8NG L\u1ef0C H\u1eccC......................................................................... 21
3.1. Gi\u1edbi thi\u1ec7u chung................................................................................................. 21
3.2. M\u00f4 h\u00ecnh \u0111\u1ed9ng h\u1ecdc.............................................................................................. 21
3.3. \u0110\u1ed9ng l\u1ef1c h\u1ecdc........................................................................................................ 25
CH\u01af\u01a0NG IV.................................................................................... . . . . . . . . . . . . . . . . . . . . . . . . . 27
K\u1ebeT C\u1ea4U ROBOT..................................................................................................... 27

4.1 Gi\u1edbi thi\u1ec7u.............................................................................................................. 27 4.2 V\u1ea5n \u0111\u1ec1 \u0111i\u1ec1u khi\u1ec1n ph\u01b0\u01a1ng ti\u1ec7n s\u1eed d\u1ee5ng x\u00edch........................... . . . . . . . . . . . . . . . . . . . . . . . . . . . 29 4.3 C\u00e1c k\u1ebft c\u1ea5u m\u1eaft x\u00edch............................................................................................. 29 4.4 C\u00e1ch b\u1ed1 tr\u00ed x\u00edch..................................................................................................... 32 4.5 H\u1ec7 th\u1ed1ng c\u0103ng x\u00edch............................................................................................... 36

1
\u0110\u1ed3 \u00c1n T\u1ed1t Nghi\u1ec7p
Tracked Mobile Robot

4.6 C\u00e1c k\u1ebft c\u1ea5u c\u1ee7a h\u1ec7 th\u1ed1ng x\u00edch............................................................................... 40
4.6.2 B\u1ed9 truy\u1ec1n \u0111\u1ed9ng \u0111i\u1ec1u khi\u1ec3n 2 x\u00edch.................................................................... 41
4.6.3 B\u1ed9 truy\u1ec1n \u0111\u1ed9ng 2 x\u00edch v\u1edbi c\u00e1c h\u1ec7 th\u1ed1ng thi\u1ebft b\u1ecb l\u00e1i ri\u00eang r\u1ebd.................. . . . . . . . . 42
4.6.4 C\u00e1c b\u1ed9 truy\u1ec1n \u0111\u1ed9ng c\u00f3 4 nh\u00e1nh x\u00edch \u0111i\u1ec1u khi\u1ec3n. ............................................ 43
4.6.5 C\u00e1c b\u1ed9 truy\u1ec1n \u0111\u1ed9ng c\u00f3 6 b\u00e1nh x\u00edch.................................................................. 45
4.7 Ph\u01b0\u01a1ng \u00e1n thi\u1ebft k\u1ebf...................................................................... . . . . . . . . . . . . . . . . . . . . . . . . . 46
4.7.1 \u00dd t\u01b0\u1edfng chung................................................................................................. 46
4.7.2 K\u00edch th\u01b0\u1edbc v\u00e0 h\u00ecnh d\u00e1ng t\u1ed5ng th\u1ec3 c\u1ee7a robot.................................................... 46
4.7.3 K\u1ebft c\u1ea5u \u0111ai \u0111\u01b0\u1ee3c l\u1ef1a ch\u1ecdn............................................................................... 48
4.7.4 K\u1ebft c\u1ea5u nh\u00e1nh ch\u00ednh......................................................................................... 50
4.7.4.1 Nhi\u1ec7m v\u1ee5....................................................................................................... 50
4.7.4.2 B\u00e1nh \u0111ai d\u1eabn \u0111\u1ed9ng........................................................................................ 50
4.7.4.3 Tr\u1ee5c tr\u01b0\u1edbc..................................................................................................... 53
4.7.4.4 B\u00e1nh \u0111ai theo................................................................................................ 53
4.7.4.5 Khung............................................................................................................ 54
4.7.4.6 Thanh t\u0103ng c\u1ee9ng cho khung.......................................................................... 54
4.7.4.7 B\u00e1nh c\u0103ng \u0111ai d\u01b0\u1edbi....................................................................................... 55
4.7.4.8 B\u00e1nh c\u0103ng \u0111ai tr\u00ean........................................................................................ 55
4.7.5 K\u1ebft c\u1ea5u nh\u00e1nh tay quay.................................................................................... 56
4.7.5.1 Nhi\u1ec7m v\u1ee5....................................................................................................... 56
4.7.5.2 B\u00e1nh \u0111ai l\u1edbn.................................................................................................. 56
4.7.5.3 B\u00e1nh \u0111ai nh\u1ecf................................................................................................. 56
4.7.5.4 T\u1ea5m tay \u0111\u1ee1.................................................................................................... 57
4.7.5.5 C\u1ea5u t\u1ea1o c\u1ee5m chi ti\u1ebft.............................................................. . . . . . . . . . . . . . . . . . . . . . . . . 57
4.8 T\u00ednh ch\u1ecdn \u0111\u1ed9ng c\u01a1................................................................................................ 59
4.8.1 \u0110\u1ed9ng c\u01a1 ph\u00eda sau.............................................................................................. 59
4.8.2 \u0110\u1ed9ng c\u01a1 ph\u00eda tr\u01b0\u1edbc.......................................................................................... 60
4.9 Kh\u1ea3 n\u0103ng ho\u1ea1t \u0111\u1ed9ng c\u1ee7a robot............................................................................ 60

THI\u1ebeT K\u1ebe H\u1ec6 TH\u1ed0NG \u0110I\u1ec0U KHI\u1ec2N V\u00c0 X\u00c2Y D\u1ef0NG PH\u1ea6N M\u1ec0M \u0110I\u1ec0U

KHI\u1ec2N ROBOT........................................................................................................... 62
5.1 C\u01a1 c\u1ea5u ch\u1ea5p h\u00e0nh.................................................................................................. 62
5.2 Gi\u1edbi thi\u1ec7u v\u1ec1 b\u1ed9 vi \u0111i\u1ec1u khi\u1ec3n 8 bit...................................................................... 62
5.2.1 Kh\u00e1i ni\u1ec7m v\u1ec1 b\u1ed9 vi \u0111i\u1ec1u khi\u1ec3n......................................................................... 63
5.2.2 C\u00e1c y\u00eau c\u1ea7u \u0111\u1ec3 l\u1ef1a ch\u1ecdn m\u1ed9t b\u1ed9 vi \u0111i\u1ec1u khi\u1ec3n................................................ 63
5.2.3 C\u00e1c ti\u00eau chu\u1ea9n l\u1ef1a ch\u1ecdn m\u1ed9t b\u1ed9 vi \u0111i\u1ec1u khi\u1ec3n................................................. 63
5.3 B\u1ed9 vi \u0111i\u1ec1u khi\u1ec3n 8bit PIC16F876A...................................................................... 64
5.3.1 C\u00e1c \u0111\u1eb7c t\u00ednh n\u1ed5i b\u1eadt c\u1ee7a b\u1ed9 vi \u0111i\u1ec1u khi\u1ec3n........................................................ 64
5.3.2 So s\u00e1nh v\u1edbi b\u1ed9 vi \u0111i\u1ec1u khi\u1ec3n 8051................................................................... 66
5.3.3 Gi\u1edbi thi\u1ec7u c\u00e1c module \u0111\u01b0\u1ee3c \u1ee9ng d\u1ee5ng v\u00e0o d\u1ef1 \u00e1n............................................ 68
5.3.3.1 Gi\u1edbi thi\u1ec7u v\u1ec1 c\u00e1c c\u1ed5ng v\u00e0o/ra (I/O ports)..................................................... 68
5.3.3.2 Truy\u1ec1n nh\u1eadn d\u1eef li\u1ec7u \u0111\u1ed3ng b\u1ed9 v\u00e0 kh\u00f4ng \u0111\u1ed3ng b\u1ed9.......................................... 75
5.3.3.3 Chu\u1ea9n giao ti\u1ebfp n\u1ed1i ti\u1ebfp hai d\u00e2y (I2C Mode)............................................... 87
5.3.3.4 Module \u0111i\u1ec1u xung (PWM Module)............................................................... 97
5.4 \u1ee8ng d\u1ee5ng IC \u0111i\u1ec1u khi\u1ec3n \u0111\u1ed9ng c\u01a1 L298.............................................................. 100
5.4.1 Gi\u1edbi thi\u1ec7u....................................................................................................... 100

2
\u0110\u1ed3 \u00c1n T\u1ed1t Nghi\u1ec7p
Tracked Mobile Robot

5.4.2 \u1ee8ng d\u1ee5ng IC L298 v\u00e0o d\u1ef1 \u00e1n........................................................................ 102
5.5 Thi\u1ebft k\u1ebf m\u1ea1ch \u0111i\u1ec1u khi\u1ec3n Robot......................................................................... 103
5.5.1 Nhi\u1ec7m v\u1ee5 thi\u1ebft k\u1ebf........................................................................................... 103
5.5.2 C\u00e1c module c\u01a1 b\u1ea3n......................................................................................... 104
5.5.2.1 Module truy\u1ec1n/nh\u1eadn h\u00ecnh \u1ea3nh t\u1eeb robot....................................................... 104
5.5.2.2 Module truy\u1ec1n/nh\u1eadn t\u00edn hi\u1ec7u \u0111i\u1ec1u khi\u1ec3n t\u1edbi robot...................................... 105
5.5.2.3 Module \u0111i\u1ec1u khi\u1ec3n v\u00e0 c\u00f4ng su\u1ea5t cho \u0111\u1ed9ng c\u01a1............................................. 107
5.6 Thi\u1ebft k\u1ebf ph\u1ea7n m\u1ec1m \u0111i\u1ec1u khi\u1ec3n Robot................................................................. 114
CH\u01af\u01a0NG VI............................................................................................................ 118
K\u1ebeT LU\u1eacN............................................................................................................... 118
T\u00c0I LI\u1ec6U THAM KH\u1ea2O......................................................................................... 119
PH\u1ee4 L\u1ee4C B\u1ea2N V\u1ebc C\u00c1C CHI TI\u1ebeT....................................................................... 121

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