一种仿生口腔机器人的结构模型及其控制系统设计  

Structure model of a bionic oral robot and design of its control system

作　　者：付艳玲[1] 张庆[1] 王宏伟[1] 吕庆[1] 王婉[1] Fu Yanling;Zhang Qing;Wang Hongwei;Lv Qing;Wang Wan(Chinese Academy of Inspection and Quarantine,Beijing,100176)

机构地区：[1]中国检验检疫科学研究院,北京100176

出　　处：《电子测试》2022年第11期28-30,67,共4页Electronic Test

基　　金：中国检验检疫科学研究院基本科研业务费项目(2020JK027)。

摘　　要：参照人体口腔的机构特点及运动方式,搭建了仿生口腔机器人的机械架构。确定了以STM32F103ZET6为核心控制芯片和PWM脉冲波为控制信号的硬件控制系统,并对控制系统进行硬件和软件设计。实验结果表明,仿生口腔机器人具有操控简单、智能性高、仿真性强等特点,可实现仿生腔体关节的平稳运动和精确控制。Reffering to the mechanism characteristics and movement mode of human oral cavity,the mechanical structure of bionic oral robot was built.The hardware control system with STM32f103ZET6 as the core control chip and PWM pulse wave as the control signal was determined,and the hardware and software of the control system were designed.The experimental results show that the bionic oral robot not only has the characteristics of simple operation,high intelligence and strong simulation,but also can achieve the stable motion and the precise control of bionic cavity joint.

关 键 词：仿生口腔机器人 STM32F103ZET6 PWM脉冲 控制系统 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]