基于STM32的自主式小白鼠饲养机器人控制

为解决当前实验用小白鼠在人工投喂饲养方式下造成的操作任务繁重,人力物力耗费巨大的问题,设计一种适用于现有小白鼠饲养环境的自主式饲养机器人。采用STM32芯片作为主控制器,以装备4个麦克纳姆轮的底盘作为移动载体,配备抬升机构和推进机构,末端加装可编程的机械臂作为可控夹持设备。对底盘直流电机进行双闭环比例-积分-微分(proportion-integral-differential,PID)算法控制,对步进电机速度进行基于S形曲线的算法控制,通过定时器级联对步进电机行程进行精确控制。经实验测试,机器人运行平稳,噪声较小,相比较人工饲养方式,机器人投喂时间能够缩短40%。实验表明,机器人能够自主完成小白鼠饲养工作,解决了人工投喂饲养任务繁重的难题。

Controlling Research of Mouse Feeding Automatic Robot Based on Stm32

In order to solve the problem of heavy operation tasks and huge human and material resources consumption caused by artificial feeding of experimental mice, an autonomous mice feeding robot suitable for the existing mouse feeding environment was designed. The robot uses STM32 chip as main controller, the chassis equipped with four Mecanum wheels is used as mobile carrier for robot, robot has lifting mechanism and propulsion mechanism as well as programmable manipulator as controllable clamping device at the end part. The DC motor equipped at chassis is controlled by double closed-loop PID arithmetic, the stepper motor is controlled by S-curve arithmetic, and the moving distance of stepper motor is accurately controlled by cascading timers. The experimental results show that the robot runs smoothly and has less noise. Compared with the artificial feeding method, the feeding time of the robot can be shortened by 40%. Experiments show that the robot can complete the feeding of mice independently and solve the difficult problem of artificial feeding.