基于Arduino的力反馈型灵巧手系统设计  

System Designed for the Dexterous Hand with Force Feedback Based on Arduino

作　　者：张英坤[1,2] 郝存明[1,2] 张效玮 马艳东[1,2] 潘其旺 ZHANG Yingkun;HAO Cunming;ZHANG Xiaowei;MA Yandong;Pan Qiwang(Institute of Applied Mathematics,Hebei Academy of Sciences,Shijiazhuang 050081;Hebei Authentication Technology Engineering Research Center,Shijiazhuang 050081;Shijiazhuang Municipal Development and Reform Commission,Hebei Shijiazhuang,Shijiazhuang 050081;Shijiazhuang Branch of China Telecom Group Co.,Ltd.,Shijiazhuang 050081)

机构地区：[1]河北省科学院应用数学研究所,石家庄050081 [2]河北省信息安全认证工程技术研究中心,石家庄050081 [3]石家庄市发展和改革委员会,石家庄050081 [4]中国电信集团石家庄分公司,石家庄050081

出　　处：《食品工业》2020年第11期237-240,共4页The Food Industry

基　　金：河北省科学院两院合作项目(NO.201508,NO.191411);河北省科学院科技计划项目(NO.2020G10)。

摘　　要：针对机器人抓取操作中,传统的专用夹持器通用性差,而灵巧手存在的结构复杂、控制难等问题,设计一种基于Arduino的力反馈型灵巧手系统。系统采用FSR传感器检测欠驱动灵巧手与目标物体的相互作用力信息,将作用力信息送入Arduino控制器进行处理,通过串口将其传输到LabVIEW人机交互系统并显示,基于最大抓握力判断构成力反馈从而实现对驱动电机的控制。系统具有原理简洁、控制容易、成本低等优点。经试验验证,系统能够实现灵巧手对目标物体的稳定抓握控制。Regarding present problems of poor versatility of traditional special holders,complicated structure and difficult to control of existing dexterous hands in the robot grab operation,the system for the dexterous hand with force feedback was designed based on Arduino.The interaction force information between the underactuated dexterous hand and the target object was measured by the FSR sensor.The force information was sent to Arduino controller for processing,then sending them to the LabVIEW human-computer interaction system and to display via the serial port,and to realize the control of the drive motor by judging the force feedback based on the maximum grip force.The system designed was simple,easy to control and low cost.The stable grasping control of the dexterous hand for the target object was proved.

关 键 词：ARDUINO 力反馈 灵巧手 控制系统 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置] TP368.1[自动化与计算机技术—控制科学与工程]