基于IMXRT1021的智能搬运机器人设计  

Design of Intelligent Handling Robot Based on IMXRT1021

作　　者：董玉林[1] 曹勇[1] 王立红[1] Dong Yulin;Cao Yong;Wang Lihong(School of Electrical Engineering,Liaoning University of Technology,Jinzhou,Liaoning 121001,China)

机构地区：[1]辽宁工业大学电气工程学院,辽宁锦州121001

出　　处：《机电工程技术》2023年第9期52-55,共4页Mechanical & Electrical Engineering Technology

摘　　要：智能搬运机器人以控制灵活、价格低廉、维护方便、结构轻巧等优势,在物流搬运领域得到越来越广泛的应用。介绍基于IMXRT1021单片机的智能搬运机器人的设计,采取模块化的设计方法,以全国大学生工程训练综合能力大赛机器人比赛的规则作为设计要求,先确定系统设计方案,再进行硬件电路设计及软件程序设计。同时为提高识别的精准度,提升工件分拣的速率,在视觉识别上,除了颜色识别、形状识别和二维码识别3种目标识别算法配合使用外,还在视觉技术辅助机械手定位上做了研究,即通过识别到物体的X、Y像素坐标,使得机械手根据该坐标应用逆运动学解算出各个关节应转动的角度,实现精准抓取。With the advantages of flexible control,low price,convenient maintenance and light structure,intelligent handling robot has been more and more widely used in the field of logistics handling.The design of the intelligent carrying robot is mainly introduced based on IMXRT1021 single chip microcomputer.Taking the modular design method and the rules of the robot competition of the National College Students Engineering Training Comprehensive Ability Competition as the design requirements,the system design scheme is determined first,and then the hardware circuit design and software program design are carried out.At the same time,in order to improve the accuracy of recognition and the speed of workpiece sorting,in addition to color recognition,shape recognition and two-dimensional code recognition,the three target recognition algorithms are used together in visual recognition,and visual technology is also used to assist manipulator positioning.By identifying the X and Y pixel coordinates of the object,the manipulator can use inverse kinematics to calculate the rotation angle of each joint according to the coordinates,so as to achieve accurate grasping.

关 键 词：智能搬运机器人 模块化 视觉技术 转向舵机 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]