基于Arduino的体感机械手设计  

Design of Somatosensory Manipulator Based on Arduino

作　　者：倪文彬[1] 毛耀 陆广华[1] 

机构地区：[1]南京理工大学泰州科技学院机械工程学院,江苏泰州225300

出　　处：《机床与液压》2017年第23期5-9,39,共6页Machine Tool & Hydraulics

基　　金：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)

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。Different from the traditional mode of operation of the manipulator, a somatosensory manipulator is prooposed and de- signed. The gesture sensing manipulator had 5 degrees of freedom （5-DoF） altogether, wtih the joint work of the upper and lower ma- chine model adopted. Data read and internal operations were resonsible by using C# to compile the computer, and coordinate somato- sensory 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 u- nit （MCU）, responsible for receiving data and control steering angle value, through the pulse width modulation （PWM） signal trans- mitting 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.

关 键 词：ARDUINO 体感传感器 机械手 

分 类 号：TG0[金属学及工艺]