基于步进电机控制的仿人机械手臂抓取移动系统设计  

Humanoid Robot Mobile Crawl System Based on Stepper Motor Control

作　　者：潘齐欣[1] 唐型基[1] 

机构地区：[1]凯里学院信息工程学院,贵州凯里556011

出　　处：《科技通报》2016年第3期118-121,共4页Bulletin of Science and Technology

摘　　要：为了改善传统机械手臂精准性差和智能性不足的问题,提出了基于人体手臂关节模型而设计的步进电机驱动自动机械手臂抓取系统。设计以嵌入式ARM微处理器LPC2148为控制核心,机械手爪指端压力传感信号采集电路等,实现自动控制机械手臂抓取物体的动作与力度,并基于三维示教存储编程对机械手臂自主抓取动作的驱动程序进行了改善提高。通过实验结果表明,该系统可以有效模拟真人手臂的抓取动作,能抓取不同形状的物体到指定地点,其可靠性、智能性与控制的精准性都得到了验证。In order to improve the traditional mechanical arm to the problem of shortage of poor precision and intelligent, puts forward the model based on human arm joints of stepper motor driver designed automatic mechanical arm grab system. Design with the embedded ARM LPC2148 microprocessor as the core, gripper fingers pressure sensor signal collection circuit, etc., to realize the automatic control of mechanical ARM moves to grab objects with strength, and based on the three dimensional teaching storage programming to fetch the mechanical ARM movements to improve drivers. Through the experimental results show that the system can effectively simulate real grasp motion of the arm, can grab objects of different shape to the designated place, its reliability, intelligent control and precision were verified.

关 键 词：步进电机 仿人机械手臂 抓取操作 

分 类 号：TP22[自动化与计算机技术—检测技术与自动化装置]