基于树莓派的移动搬运机械臂设计与仿真  

Design and simulation of raspberry Pi-based mobile handling robot arm

作　　者：孙佩茹 陈士奇 陈子君 吴文杰 李晨璐瑶 邓超 SUN Peiru;CHEN Shiqi;CHEN Zijun;WU Wenjie;LI Chenluyao;DENG Chao(School of Automobile and Traffic Engineering,Wuhan University of Science and Technology,Wuhan 430065,Hubei,China;Intelligent Automobile Engineering Research Institute,Wuhan University of Science and Technology,Wuhan 430065,Hubei,China;Unmanned System Intelligent Perception Control Technology Engineering Laboratory of Sichuan Province,Chengdu 610225,Sichuan,China;Laboratory of Cloud IOT Intelligent Equipment in Expressway Construction and Maintenance,Jinan 250357,Shandong,China)

机构地区：[1]武汉科技大学汽车与交通工程学院,湖北武汉430065 [2]武汉科技大学智能汽车工程研究院,湖北武汉430065 [3]四川省无人系统智能感知控制技术工程实验室,四川成都610225 [4]云基物联网高速公路建养设备智能化实验室,山东济南250357

出　　处：《农业装备与车辆工程》2024年第2期103-106,共4页Agricultural Equipment & Vehicle Engineering

基　　金：国家自然科学基金青年基金项目(52002298);教育部产学合作协同育人项目(202102580026);武汉科技大学大学生创新创业训练计划项目(22Z081、22Z079);四川省无人系统智能感知控制技术工程实验室开放课题(WRXT2022-001);云基物联网高速公路建养设备智能化实验室开放课题;武昌工学院科学研究项目(2022KY24)。

摘　　要：基于树莓派4B在ROS开发平台设计了一种面向物流的移动机械臂抓取系统,以SolidWorks为建模工具创建回转体物料模型,实现物料抓取搬运功能。通过MATLAB实现机械臂建模,在ROS中进行模型功能配置,利用笛卡尔空间轨迹规划完成机械臂移动规划,通过MoveIt!的API接口编程完成机械臂抓取。实验结果表明,该模型能够自主导航规划路径,实现目标物体的精准识别和抓取。Based on Raspberry Pi 4B,a logistics-oriented mobile robotic arm gripping system was designed under ROS development platform,and SolidWorks was used as a modeling tool to create a rotary material model to realize the function of material gripping and handling.The robot arm modeling was realized through MATLAB,the model function was configured in ROS,the robot arm movement planning was completed using Cartesian spatial trajectory planning,and finally the robot arm grasping was completed through the API interface programming of MoveIt!The results showed that the model was able to navigate the planning path autonomously and achieve accurate identification and grasping of target objects.

关 键 词：移动机械臂 分拣 导航 抓取 ROS MoveIt! 

分 类 号：TP241.2[自动化与计算机技术—检测技术与自动化装置] TP391.9[自动化与计算机技术—控制科学与工程]