| Summary: | 碩士 === 明新科技大學 === 電子工程系碩士班 === 103 === In this study, we use micro controller(HT32F1765) and server motors to achieve the crawling action of bionic mechanical snake and discuss the relationship between the amount of server, resolution of PWM and the fluency of movement.
This essay also combines bluetooth and ultrasonic modules to get various controls. By writing the App, we can use the cell phone to transmit the instruction by bluetooth to control the movement of bionic mechanical snake. And when it encounters an obstacle it will perform avoidance automatically. By Incorporating the regular timer interrupt with software skill, we can produce groups of PWM waveform output from the GPIO of MCU to control the server motors. To make the bionic mechanical snake crawl more fluency, it is necessary to increase the degree of freedom of mechanism as well as the resolution of PWM wave.
The execution time of ISR(Interrupt Service Routine) will affect the resolution of PWM which decide the movement of bionic mechanical snake fluency or not. Increasing the number of server motor, the execution time of ISR also increase, this result in the reduction of resolution. In order to output the group of PWM signal normally, the interval of regular timer interrupt must be greater than the execution time of main program plus the execution time of ISR. When we add the number of server motor, the power consumption will also increase. We need to increase the capacity of battery to keep the circuit operation properly, but this will also cause the weight increase, thus the relative PWM parameter should be re-adjusted to obtain the fluency crawling of bionic mechanical snake.
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