基于STM32的无线仿生机械手与穿戴式控制器设计  

Design of wireless biomimetic manipulator and wearable controller based on STM32

作　　者：赵政宏 乔栋 李博文 赵杰 Zhao Zhenghong;Qiao Dong;Li Bowen;Zhao Jie(College of Coal Engineering,Shanxi Datong University,Datong 037009,China;College of Architecture and Geomatics Engineering,Shanxi Datong University,Datong 037009,China)

机构地区：[1]山西大同大学煤炭工程学院,山西大同037009 [2]山西大同大学建筑与测绘工程学院,山西大同037009

出　　处：《无线互联科技》2023年第10期69-74,共6页Wireless Internet Technology

摘　　要：机器人技术研究是一个至关重要的热门领域,机械手是完成各种任务的主要结构。然而,传统的机械手缺乏灵活性,不适合极端的工作环境。为了解决大多数机械手由于微型计算机或程序控制的限制而与人手缺乏同步的问题,文章开发了一种15自由度无线同步仿生机械手系统。该系统从身体感应机械手套收集实时运动数据,并将其无线传输到仿生机械手;使用微分算法,操纵器调整转向器的旋转角度,以实现对人手运动的同步模拟。The research of robot technology is a crucial and hot field,and the manipulator is the main structure to complete various tasks.However,the traditional manipulator lacks flexibility and is not suitable for extreme working environment.In order to solve the problem that most manipulators lack synchronization with human hands due to the limitation of microcomputer or program control,a 15-DOF wireless synchronous bionic manipulator system was developed.The system collects realtime motion data from the bodysensing mechanical glove and wirelessly transmits it to the bionic manipulator.Using the differential algorithm,the manipulator adjusts the rotation angle of the steering gear to realize the synchronous simulation of human hand movement.

关 键 词：穿戴式控制器 仿手形 运动同步 

分 类 号：TH122[机械工程—机械设计及理论]