Design and realization of ball hand system for mediumsized league football robot

YI Jinqiao, LIAO Honghua, YUAN Hailin, AI Qing, FANG Fang

(School of Information Engineering, Hubei University for Nationalities, Enshi 445000, China)

Abstract: Aiming at RoboCup mediumsized league football robot in the process of game, passive handing ball mechanism do not have function of stealing the ball, handing the ball is not stable, and carrying the ball can′t turn of small angle, the infrared sensor technology and mechatronics technology were applied to mediumsized football robot handing ball mechanism, the active control mechanism based on Atmega128 was designed, via a serial port from a PC to read the robot posture of the travel, combined with infrared sensors information, the drive motor control method of the arm around the ball was selected, to realize key technology including the robot of stealing the ball, the handing ball turned and the ball carried in the process of game.Modular architecture concept was adopted to design the DCDC power supply circuit, infrared sensor circuit, the hollow glass of DC motor drive circuit, arm mechanical components of handing the ball, and system software.The experimental results show that system parameter of the output voltage, the PWM wave, infrared detection range of mediumsized league football robot, such as error less than 2%, the effective ballhandling time of the Rising Sun robot reaches 56% in the actual game.

Key words: microcontroller; ball handling mechanism; infrared sensor; driver module