FLL + WRO 樂高機器人競賽教程 — 機械、巡線與 PID

《FLL+WRO樂高機器人競賽教程——機械、巡線與PID》以樂高 spike 機器人和 EV3 機器人為載體進行編寫，圍繞 FLL 和 WRO 機器人競賽， 通過 180 多個搭建示例，詳細講解機械原理、機械傳動設計、機械臂系統設計，以及競賽機器 人主機設計與機械平臺設計。結合 200 多個程序示例，詳細講解競賽機器人的運動、巡線、定位、 路徑規劃、PID 拓展與優化等程序的設計。書中還給出了競賽機器人的“我的模塊”程序設計， 讓各年齡段的學生都能夠學會簡潔高效的程序編寫。 《FLL+WRO樂高機器人競賽教程——機械、巡線與PID》可作為小學生和中學生學習機器人和競賽的教材或參考書，同時也適合科技愛好者在 自學時選用。

目 錄

 

第1章 電機與傳感器

 

1.1　樂高機器人 ·································2

 

1.1.1　spike機器人 ·······························2

 

1.1.2　EV3機器人 ································5

 

1.1.3　機器人的數據顯示 ·······················8

 

1.2　伺服電機 ··································12

 

1.2.1　伺服電機原理 ····························12

 

1.2.2　電機編程模塊 ····························13

 

1.2.3　時間與循環 ·······························19

 

1.2.4　電機的變速控制 ·························20

 

1.2.5　模擬勻加速運動 ·························22

 

1.2.6 拓展閱讀：勻加速直線運動方程 ····23

 

1.2.7　電機轉速的測量 ·························24

 

1.2.8　拓展閱讀：電機堵轉 ···················26

 

1.3 傳感器 ·····································28

 

1.3.1　光電傳感器原理 ·························28

 

1.3.2 光電傳感器編程 ·························29

 

1.3.3　反射光強度 ·······························31

 

1.3.4 光值的標準化 ····························34

 

1.3.5　陀螺儀傳感器 ····························35

 

1.3.6　加速度傳感器 ····························37

 

第2章 機械傳動設計

 

2.1　杠桿 ········································41

 

2.1.1　杠桿的種類 ·······························41

 

2.1.2　力矩與扭矩 ·······························42

 

2.2　軸傳動 ·····································44

 

2.2.1 軸 ···········································44

 

2.2.2　輪軸 ········································44

 

2.2.3　萬向節 ·····································45

 

2.2.4　離合軸 ·····································46

 

2.3　齒輪傳動 ··································47

 

2.3.1 從動齒輪與主動齒輪 ···················48

 

2.3.2　齒數比 ·····································48

 

2.3.3　齒輪的離合傳動 ·························51

 

2.3.4　平行軸齒輪傳動 ·························54

 

2.3.5　垂直軸齒輪傳動 ·························56

 

2.3.6　蝸桿傳動 ··································58

 

2.3.7 齒條傳動 ··································59

 

2.3.8　鏈傳動 ·····································62

 

2.3.9　棘輪機構 ··································63

 

2.4　滑輪 ········································64

 

2.5　凸輪機構 ··································67

 

2.6　平面連桿機構 ····························69

 

2.6.1　平面四桿機構 ····························69

 

2.6.2　曲柄搖桿機構 ····························70