无人机自主抓取仿生机械手的设计  

Design of bionic manipulator for UAV autonomous object grasping

作　　者：张千彧 薛召 刘伟军[2,3] 吴荣谦 ZHANG Qian-yu;XUE Zhao;LIU Wei-jun;WU Rong-qian(The Key Laboratory of Biomedical Information Engineering of Ministry of Education,Institute of Health and Rehabilitation Science,School of Life Science and Technology,Xi'an Jiaotong University,Xi'an 710049,China;Department of Consumable and Reagent,Shaanxi Provincial People's Hospital,Xi'an 710068,China;National Local Joint Engineering Research Center for Precision Surgery&Regenerative Medicine,Shaanxi Provincial Center for Regenerative Medicine and Surgical Engineering,the First Affiliated Hospital of Xi'an Jiaotong University,Xi'an 710061,China;School of Nursing,Xi'an Jiaotong University Health Science Center,Xi'an 710061,China)

机构地区：[1]西安交通大学生命科学与技术学院生物医学信息工程教育部重点实验室,西安710049 [2]陕西省人民医院耗材试剂部,西安710068 [3]西安交通大学第一附属医院精准外科与再生医学国家地方联合工程研究中心,陕西省再生医学与外科工程研究中心,西安710061 [4]西安交通大学医学部护理学系,西安710061

出　　处：《医疗卫生装备》2023年第11期34-38,共5页Chinese Medical Equipment Journal

基　　金：国家自然科学基金重大科研仪器研制项目(81727802);陕西省创新能力支撑计划项目(2017KCT-36)。

摘　　要：目的:设计一种无人机自主抓取仿生机械手,以实现无人机在飞行过程中精准抓取物体。方法:该机械手利用红外感应技术抓取物体,由外壳、支撑架、旋转齿轮、中央转轴、中央绕线盘、尼龙线(3根)、旋转电动机(2个)、扭簧(3个)、机械爪(3个)、机械爪固定装置(3个)、红外感应装置和Arduino开发板等组成。其中外壳采用聚乳酸材料进行3D打印,支撑架、旋转齿轮、中央转轴、中央绕线盘、机械爪采用光敏树脂进行3D打印,机械爪打印完成后再用橡胶材料浇注形成弹性结构;Arduino开发板采用OpenCM9.0控制器,可对红外感应装置和旋转电动机进行供电与控制。结果:经测试,该机械手能够实现张开与闭合操作,且可以在0.11~0.15 s完成张开—感应—启动—抓取的过程。结论:该机械手质量轻、负载低、抓取效率高,可满足无人机自主抓取物体的需求。Objective To design a bionic manipulator to enable precise grasping of objects by UAVs during flight.Methods A bionic manipulator for UAV autonomous object grasping was developed with the components of a shell,a support frame,a rotating gear,a central spindle,a central winding disk,three nylon threads,two rotary motors,three torsion springs,three mechanical claws,three mechanical claw fixing mechanisms,an infrared sensing device and an Arduino development board.The shell was 3D printed with PLA material,and the support frame,rotating gear,central spindle,central winding disk and mechanical claws were 3D printed with photosensitive resin,and the mechanical claws were injected with rubber material to form an elastic structure after 3D printing was completed;the Arduino development board used an OpenCM9.0 controller to provide power supply and control for the infrared sensing device and rotating motor.Results The manipulator developed proved to have the capability for opening and closure,which could complete the process of opening—sensing—starting—grasping in 0.11 to 0.15 s.Conclusion The manipulator developed gains advantages in light weight,low load and high efficiency,and can meet the needs of UAVs for autonomous object grasping.

关 键 词：无人机 自主抓取 仿生机械手 机械爪 

分 类 号：V279[航空宇航科学与技术—飞行器设计] TP241[自动化与计算机技术—检测技术与自动化装置]