室内遥操作移动抓取机器人系统设计  

Design of Mobile Grasping Robot Based on Indoor Teleoperation Technology

作　　者：张英坤[1,2] Zhang Yingkun(Institute of Applied Mathematics,Hebei Academy of Sciences,Shijiazhuang 050081,China;Hebei Authentication Technology Engineering Research Center)

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

出　　处：《单片机与嵌入式系统应用》2022年第6期70-73,78,共5页Microcontrollers & Embedded Systems

基　　金：河北省“三三三人才工程”资助项目(A202101049)。

摘　　要：设计了一种基于遥操作技术的移动抓取机器人,包括机械执行系统和控制系统,主要由四驱全向移动平台、三自由度机械臂、欠驱动二指机械手和由无线相机构建的远程监控系统组成。试验结果表明,设计开发的移动抓取机器人具有良好的遥操作性能,在对目标物体的移动抓取作业过程中,全向移动平台、机械臂、机械手及远程监控系统能够协调控制,且机械手在可靠抓取的同时不会对目标物体造成破坏。The teleoperation technology has been applied to the control of the robot,and mobile robot can accomplish dangerous,complex and diverse tasks by using human experience,technology and decision-making ability in unknown environment.A mobile grasping robot based on teleoperation technology is developed,which includes mechanical executive system and control system,and composed of omnidirectional mobile platform,three degrees of freedom mechanical arm,underactuated two-fingers manipulator and remote monitoring system constructed by a wireless camera.The test results show that the mobile grasping robot based on teleoperation technology designed and developed in this paper can well finish the movement and grasping of the target object,omnidirectional mobile platform,mechanical arm,manipulator and remote monitoring system can work coordinately.At the same time the manipulator can grab the target object reliably without any damage.

关 键 词：移动抓取机器人 全向移动平台 机械臂 机械手 

分 类 号：TP274[自动化与计算机技术—检测技术与自动化装置]