基于Python机械手掌机器人手指视觉体感识别系统设计  

Design of Robot Finger Visual Somatosensory Recognition System Based on Python

作　　者：徐扬 蒋善超 Xu Yang;Jiang Shanchao

机构地区：[1]盐城工学院电气工程学院

出　　处：《智慧工厂》2021年第5期68-72,共5页Smart Factory

摘　　要：本设计为五指机械手掌并且含有光电传感器,可以对颜色进行分类,对物体进行识别,可以模仿人手的手势,该系统主要包括机械手指结构的搭建、舵机电路的驱动、手势数据的采集、执行系统软件编程。其中此系统的硬件部分,主要特点是依靠五指机械手做手势动作或者抓取动作。此机械手由光学传感器、信号处理、树莓派控制系统、电机驱动模块组成。光学传感器将捕捉到的图像传送给树莓派进行处理,之后通过电柄驱动进行运行。软件部分的关需是以树莓派为中心接受信号,进行图像处理,算法执行,发出指令控制驱动模块运行。最终实现机械手掌对于物体的抓取,颜色的识别,形态的辨认以及模仿人手的姿态,此系统能很好地代替人手工作,有很好的应用前景。This design is a five-fingered mechanical palm and contains photoelectric sensors,which can classify colors,ide ntify objects and imitate hand gestures.The system mainly in eludes mecha nical struct ure con structi on,hardware circuit,data acquisiti on and software program ming of the implementation system.Among the hardware parts of the system,the main feature is to rely on the five-finger manipulator to do gesture or grab action.The manipulator is composed of optical sensor,signal process!ng,Raspberry Pi control system and motor drive module.Optical sensors trarismit the images to the Raspberry Pi for processing,which is then driven by a motor,The key of the software part is to take Raspberry Pi as the center to receive signals,carry out image processing,algorithm execution,and issue instructions to control the operation of the driving module.Fin ally,the mechanical hand can grasp the object,recog nize the co lor,recog nize the form and imitate the posture of the hand.This system can replace manual work well and has a good application prospect.

关 键 词：PYTHON 机械手 视觉体感识别 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]