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基于Arduino的体感机械手设计
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国家自然科学基金资助项目(61428304);江苏省高校自然科学研究面上项目(14KJD460003);南京理工大学泰州科技学院教育教学改革重点项目(YJG2013A01)


Design of Somatosensory Manipulator Based on Arduino
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    摘要:

    区别于传统机械手的操作方式,提出并设计了一种体感操作机械手。该手势感应机械手共有5个自由度,采用了上位机和下位机联合工作的模式。利用C#编译的上位机负责数据的读取和内部运算,将体感传感器Leap Motion获得的坐标信息转化为实际所需的关节舵机旋转角度,并且通过蓝牙40模块实时传输给下位机。下位机采用Arduino nano单片机,负责数据的接收和控制舵机的角度值,通过PWM信号传输给模拟舵机,达到预期的操作,且可以在较远的距离内实现对人手臂、手指动作的模仿和小型零件的搬运。

    Abstract:

    Different from the traditional mode of operation of the manipulator, a somatosensory manipulator is prooposed and designed. The gesture sensing manipulator had 5 degrees of freedom (5DoF) altogether, wtih the joint work of the upper and lower machine model adopted. Data read and internal operations were resonsible by using C# to compile the computer, and coordinate somatosensory information obtained by Leap Motion sensor was transformed into joint steering gear rotation angle actually needed, and through the Bluetooth 40 module real time transmitted to the lower computer. The lower computer was used of Arduino nano microcontroller unit (MCU), responsible for receiving data and control steering angle value, through the pulse width modulation (PWM) signal transmitting to the simulation of steering gear, to achieve the desired operation. Human arm and finger movements to imitate and small parts handling can be realized in a quite far distance.

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倪文彬,毛耀,陆广华.基于Arduino的体感机械手设计[J].机床与液压,2017,45(23):5-9.
. Design of Somatosensory Manipulator Based on Arduino[J]. Machine Tool & Hydraulics,2017,45(23):5-9

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  • 在线发布日期: 2018-04-11
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