System Design and Setup of a Robot to Pass over Steps Abstract In the research, one special type of robots that can pass over steps is designed and se

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2 System Design and Setup of a Robot to Pass over Steps Abstract In the research, one special type of robots that can pass over steps is designed and setup. This type of robot uses two kinds of motors, DC and step motors, to drive the overall mechanical structure. In the mechanism, the robot is designed to use the ball screws in order to change the length of legs. The 8051 microprocessor is used as the CPU of the controller for motors. The motion control of the robot enables each motor of the robot to operate harmonically when passing through steps. The research has developed the micro-controller software to control the robot passing the step successfully. Key Words pass over steps, 8051 microprocessor, motion control Chi-Ching Yang:GAssistant Professor, Department of Electrical Engineering, HIT

3 1.... Matsumoto[1][2][3] (modeling) 2. (1) (2) [4][5] ( ) Gear transmission Gear Gear mechanism Spur gearbevel

4 gear Helical gear Worm and worm gear Parallel axes Intersecting axes Non-parallel non-intersecting axes Straight spur gear Rack and pinion Helical spur gear Herringbone gearpin gear Straight bevel gear Crown gear Spiral bevel gear Skew bevel gear Crossed helical gear Hypoid gear Worm and worm gear ( ) Straight bevel gear

5 ( ) Screw mechanism Translation screw Power screw screw Right-handed thread Left-handed thread Pitch p Lead Ld Single thread Multiple thread ( )

6 Ball screw [14]... (a)(b) 90%

7 (a) (a) (1) (2)(3)(7)(8) (4) (5) (6)(12)(13) (9) (10)

8 3. [6][7][8] (2) (3) (4) ( ) Stepping motor CNC (1)

9 s s =() (a) 1

10 A B A B (b) 2

11 A B A B A B A B

12 ? 0.9? 12 (c) ( ) 1. (armature) (rotor) 3. (slip ring) () ( ) 2. (field) (stator) ( ) 4. (bearing)

13 5. (motor controller) *1000 R.P.M. AMP. 3 4 Eff. % 40 Eff. Output W Speed Current Output Torque g-cm Torque g-cm DC12V DC24V (gcm kg-cm) (rpm)

14 (1) RPM = (rpm) (2) = RPM ( ) (3) = (Torque) (4) = ( 60 ~ 80 ) 4. ( ) * 2 16 / ( ) * 5 * (UART) * IC IC TA7257P (1) 8051[9][10][11] 8051(8052)CPU ROM I/O * 8CPU * 32 I/O * 4Kbyte(8052 8K) (ROM) 64K * 128byte( byte) (RAM) 64k

15 V CC V SS (20, 40 ) 5 XTAL1/2 (18, 19 ) RESET (9 ) 0000H EV / V PP (31 ) PSEN (29 ) ALE/Prog (30 ) P0.0~P0.7 (32~39 ) P1.0~P1.7 (1~8 ) P2.0~P2.7 (21~28 ) RXD/TXD (10, 11 ) INT0/1 (12, 13 ) T0/T1 (14, 15 ) RD/RW (16, 17 ) / 8 I/O 8 I/O 8 I/O (P3.0 P3.1) (P3.2 P3.3) (P3.4 P3.5) (P3.6 P3.7) * P08RD WR ALE/P 74LS373 74LS I/O LCD

16 * P18 4X4 * TXD RXDICL232 RS / /524~8K Bytes ROM Assembler Link ROM 89C ROM 64K 4K (8051) 8K (8052) ROM 64K 128K (8051) 256(8052) RAM TXD I/O RXD CPU OSC 4 I/O P0,P1,P2,P4 TIMER0 TIMER1 TIMER2 8051/8052

17 RAM 8051/52128~256Bytes * 00~1FH32 RB0 RB1 RB2 RB38 R0 R1 R2 R3 R4 R5 R6 R7 * 20~2FH16 2Bytes SETB20H.0 CLR20H.1 * 30~7FH 80 " RAM" [8][12][13] * TA7257P * 6V~18V * 1.5A 4.5A * * * TA7257P TA7257P 42 SP 80~FFH / /8052 SFR P0 P1 P2 P3 UART SCON/ (2) IC TA7257P

18 TA7257P IN 1 IN 2 OUT 1 OUT LOW LOW / 0 1 LOW HIGH / 1 0 HIGH LOW

20 ( ) 1.( ) 2.( ) 3.( ) () 6. () 7. 8.

22 ( ) 1.( ) 2.( ) 3.( ) 4., 5.( ) 6.( ) 7. 8.,

23 9.( ) 10.( ) ( NSC C E) (

24 )2002 [1] O. Matsumoto, S. Kajita, and K. Tani, "Dynamic Trajectory Control of Variable Structure Type Fourwheeled Robot to Pass over Steps", Proc. of 4th IEEE Int. Workshop on Advanced Motion Control, pp , [2] O. Matsumoto, S. Kajita, and K. Tani, "Fast Passing over Steps with Unknown Height by a Variable Structure Type Four-wheeled Robot", Proc. of 10th IEEE/RSJ Int. Conf. on Intelligent Robot and Systems, pp , [3] O. Matsumoto, S. Kajita, M. Saigo, and K. Tani, "Dynamic Trajectory Control of Passing over Stairs by Biped Type Leg-wheeled Robot with Nominal Reference of Static Gait", pp , [4] 91 [5] 83 [6] 86 [7] 80 [8] 85 [9] [10] MSC51I / O 90 [11] [12] DC 89 [13] IC 86 [14] Proc. of the IEEE/RSJ Int. Conf. on Intelligent Robot and Systems,

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