同步仿生机械臂设计  

Design of Synchronous Bionic Arm

作　　者：张昊[1,2] 王超亮[1,2] 田文龙[1] 李擎[1,2] 

机构地区：[1]北京信息科技大学智能控制研究所,北京100101 [2]高动态导航技术北京市重点实验室,北京100101

出　　处：《兵工自动化》2015年第5期77-80,共4页Ordnance Industry Automation

基　　金：国家自然科学基金(61261160497)

摘　　要：针对目前机械臂的应用存在操作复杂、设计繁琐等不足,设计一套由MCU、加速度计、直流舵机和臂环等构成的同步仿生机械臂。介绍系统总体设计,通过信号转换算法使采集信号转换为驱动舵机转动的PWM控制信号,采用程序消抖算法进行优化,并进行实验验证。结果表明:该仿生机械臂控制灵活,使用简单,成本低廉,可推广应用于仿人手臂运动作业、主从机械臂系统的研究领域。Aiming at the shortcomings of complex operation and excessively detailed design, design a synchronous motion bionic arm which is composed by the MCU, accelerometers, DC servos and arm rings. Introduce the system overall design, through signal change algorithm, change choosing signal into PWM control signal for driving actuator running. Carry out optimization by using program chattering elimination algorithm. Then, carry out test verification. The result shows that the bionic arm control is nimble, easy to use with low cost. It can be used fields such as bionic arm operation, master-slave manipulator system and so on.

关 键 词：同步 机械臂 加速度计 舵机 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]