基于潜蛟P100的渔网缝补机械臂设计  

Design of Fishing Net Sewing Robot Based on P100

作　　者：周嘉昕 海锐 林彬庆 王瑀琦 万云霞[1] ZHOU Jiaxin;HAI Rui;LIN Binqing;WANG Yuqi;WAN Yunxia(College of Instrumentation Science and Electrical Engineering,Jilin University,Changchun 130026,China;Department of Electrical and Electronic Engineering,Imperial College London,London SW72AZ,UK)

机构地区：[1]吉林大学仪器科学与电气工程学院,长春130026 [2]帝国理工学院电子电气学院,伦敦SW72AZ

出　　处：《吉林大学学报（信息科学版）》2024年第4期760-766,共7页Journal of Jilin University（Information Science Edition）

基　　金：吉林大学创新创业训练计划基金资助项目(S202110183483)。

摘　　要：为解决传统手工修补渔网效率低下且成本较高的问题,设计了一种可自动缝补渔网的机械臂。该机械臂以STM32F103C8T6为主控制器,通过红外传感器、电机执行器和通信模块实现其功能。红外传感器模块负责检测渔网破损位置,电机执行器模块驱动6个轴上的电机使机械臂能灵活地将缝补装置送到预设节点处,通信模块负责将检测的渔网破损信息传输给控制器进行处理。实验测试结果表明,所设计的机械臂通过六自由度的旋转,实现每分钟4~5个简单破损网孔的修补。与传统的手工修补方法相比,提高了渔网修补效率和质量、降低了人工成本,具有明显优势.Traditional manual repair of fishing nets is inefficient and costly.To solve the problem of traditional manual repair of fishing nets,a robotic arm that can automatically sew fishing nets is designed.The robotic arm is mainly controlled by STM32F103C8T6,and its functions are achieved through infrared sensor module,motor actuator module,and communication module.The infrared sensor module is responsible for detecting the position of damaged fishing nets.The motor actuator module drives the motors in six axis to flexibly send the sewing device to the preset node,and the communication module is responsible for transmitting the detected information of damaged fishing nets to the controller for processing.After practical testing,the designed robotic arm can achieve high-precision,fast,and effective automatic sewing of fishing nets.Compared with traditional manual repair methods,this automatic repair technology improves the efficiency and quality of fishing net repair,reduces labor costs,and has obvious advantages.

关 键 词：自动缝补渔网 机械臂 传统手工缝补 电机 

分 类 号：TP241.3[自动化与计算机技术—检测技术与自动化装置]