Control Circuit Design for Wheel-Leg Hybrid Robot
DOI: https://doi.org/10.62517/jes.202602115
Author(s)
Mengmeng Luo1, Xiong Wang1,*, Jing Zhang1, Baoliang Wang2, Fan Li1
Affiliation(s)
1School of Energy Engineering, Yulin University, Yulin, Shaanxi, China
2Shengsheng Environmental Protection Technology Co., Ltd., Yulin, Shaanxi, China
*Corresponding Author
Abstract
To meet the stringent requirements of miniaturization, ease of operation, and integral body deformation for advanced mobile robots, this paper focuses on the customized design of a dedicated control circuit for the YLRobot-III wheel-leg hybrid robot. The STC12C5A60S2 microcontroller is carefully selected as the core control unit, thanks to its high integration and strong compatibility with peripheral components. On this basis, a complete set of auxiliary circuits are elaborately constructed, including stable power supply, reliable reset, high-precision crystal oscillator, high-response servo drive, and efficient DC motor drive modules. Specifically, the servo rotation angle is accurately controlled by adjusting the high-level duration of the PWM signal, while the DC motor speed is flexibly regulated by modifying the PWM duty cycle. Comprehensive simulation analyses and practical experimental verifications are carried out, which confirm the excellent effectiveness and high precision of the proposed control methods, demonstrating the robot’s reliable capability to realize precise joint rotation and stable wheel movement. This further provides robust technical support for the motion control of wheel-leg hybrid robots.
Keywords
Leg-Rotor Hybrid Robot; Control Circuit; Servo Motor; DC Motor
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