基于BMI160的多自由度体感遥控机械臂设计
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摘要
随着智能制造的快速发展,传统的机械臂控制技术越来越不能满足实际生产的复杂要求,需要更加智能的机械臂该设来解决这一问题。文章设计了基于BMI160的多自由度体感遥控机械臂,该设计利用STM32F103C8T6作为主控制器,惯性导航模块用于手势检测,NRF24L01无线模块用于指令发送和数据接收,OLED液晶模块用于显示当前控制指令、机器人状态,采用LED和蜂鸣器实现提示和警报。设计的机械臂具有使用简便、机动灵活、连接可靠、稳定性能好、人性化操作等优点,基本能够满足机械臂的遥控要求,具有较高的应用与推广价值。同时保留了拓展接口,为以后的智能升级留下了充分的余地。
With the rapid development of intelligent manufacturing, the traditional mechanical arm control technology is increasingly unable to meet the complex requirements of actual production, the need for more intelligent mechanical arm to solve this problem. This paper designs a many degree of freedom and somatosensory robot arm based on BMI160. The design USES STM32 F103 C8 T6 as the main controller,inertial navigation module for gesture detection, NRF24 L01 wireless module for command sending and data receiving, OLED LCD module for display of current control instructions, robot state, use LED and buzzer to realize prompt and alarm. The designed mechanical arm has the advantages of simple use, flexible, reliable connection, good stability and humanized operation, which can basically meet the remote control requirements of the mechanical arm and has high application and promotion value. At the same time, the extended interface is retained, which leaves sufficient room for future intelligent upgrade.
With the rapid development of intelligent manufacturing, the traditional mechanical arm control technology is increasingly unable to meet the complex requirements of actual production, the need for more intelligent mechanical arm to solve this problem. This paper designs a many degree of freedom and somatosensory robot arm based on BMI160. The design USES STM32 F103 C8 T6 as the main controller,inertial navigation module for gesture detection, NRF24 L01 wireless module for command sending and data receiving, OLED LCD module for display of current control instructions, robot state, use LED and buzzer to realize prompt and alarm. The designed mechanical arm has the advantages of simple use, flexible, reliable connection, good stability and humanized operation, which can basically meet the remote control requirements of the mechanical arm and has high application and promotion value. At the same time, the extended interface is retained, which leaves sufficient room for future intelligent upgrade.
引文
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[2]周立功.ARM7嵌入式系统基础教程[M].北京:北京航空航天大学出版社,2008.
[3]杜春雷.ARM体系结构与编程[M].北京:清华大学出版社,2003.
[4]刘火良,杨森.STM32库开发实战指南[M].北京:机械工业出版社,2013.
[5]肖广兵.ARM嵌入式开发实例:基于STM32的系统设计[M].北京:电子工业出版社,2013.