基于ATmega128砂糖橘简易采摘机器人的设计

摘要

The ATmegal28 is used as the control core of the simple picking sugar orange robot. The robot can recognize the sugar orange by the TCS230 color sensors. And then the mechanical parts of the robot are con trolled by DC motors and step motors to search for the sugar orange. Once the position of sugar orange is determined, it can be picked by the machine hand. The performance test on the whole machine is done on the pick ing manipulator system, which shows that the success ratio of picking is 95%. The robot has certain application value.%应用ATmega128单片机作为砂糖橘简易采摘机器人的控制核心,用TCS230颜色传感器识别砂糖橘.通过多个直流电机和步进电机控制机械手手臂搜索砂糖橘,并确定其位置,再控制机械手手指摘取果实.经实验表明,摘取果实的成功率达到了95％以上,具有一定的应用价值.