目 录

第1章 电机与传感器

1.1　乐高机器人 ·································2

1.1.1　spike机器人 ·······························2

1.1.2　EV3机器人 ································5

1.1.3　机器人的数据显示 ·······················8

1.2　伺服电机 ··································12

1.2.1　伺服电机原理 ····························12

1.2.2　电机编程模块 ····························13

1.2.3　时间与循环 ·······························19

1.2.4　电机的变速控制 ·························20

1.2.5　模拟匀加速运动 ·························22

1.2.6 拓展阅读：匀加速直线运动方程 ····23

1.2.7　电机转速的测量 ·························24

1.2.8　拓展阅读：电机堵转 ···················26

1.3 传感器 ·····································28

1.3.1　光电传感器原理 ·························28

1.3.2 光电传感器编程 ·························29

1.3.3　反射光强度 ·······························31

1.3.4 光值的标准化 ····························34

1.3.5　陀螺仪传感器 ····························35

1.3.6　加速度传感器 ····························37

第2章 机械传动设计

2.1　杠杆 ········································41

2.1.1　杠杆的种类 ·······························41

2.1.2　力矩与扭矩 ·······························42

2.2　轴传动 ·····································44

2.2.1 轴 ···········································44

2.2.2　轮轴 ········································44

2.2.3　万向节 ·····································45

2.2.4　离合轴 ·····································46

2.3　齿轮传动 ··································47

2.3.1 从动齿轮与主动齿轮 ···················48

2.3.2　齿数比 ·····································48

2.3.3　齿轮的离合传动 ·························51

2.3.4　平行轴齿轮传动 ·························54

2.3.5　垂直轴齿轮传动 ·························56

2.3.6　蜗杆传动 ··································58

2.3.7 齿条传动 ··································59

2.3.8　链传动 ·····································62

2.3.9　棘轮机构 ··································63

2.4　滑轮 ········································64

2.5　凸轮机构 ··································67

2.6　平面连杆机构 ····························69

2.6.1　平面四杆机构 ····························69

2.6.2　曲柄摇杆机构 ····························70

......

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