CN106313072A - Humanoid robot based on leap motion of Kinect - Google Patents
Humanoid robot based on leap motion of Kinect Download PDFInfo
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- CN106313072A CN106313072A CN201610887864.9A CN201610887864A CN106313072A CN 106313072 A CN106313072 A CN 106313072A CN 201610887864 A CN201610887864 A CN 201610887864A CN 106313072 A CN106313072 A CN 106313072A
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- kinect
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/003—Manipulators for entertainment
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/003—Controls for manipulators by means of an audio-responsive input
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
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- Manipulator (AREA)
Abstract
A humanoid robot based on leap motion of Kinect is composed of a Kinect sensing and upper computer processing part, an STM32 lower computer part and a humanoid mechanical skeleton part. More natural and flexible control is achieved by means of the Kinect, and man-machine interaction is friendly; and the robot has the real-time remote imitation control function, the teaching replay function and the gesture control function, and the functions are rich. By means of local area network control, wide-range remote control can be achieved, and movement is flexible and stable; mechanical arms are controlled through RE-series servo motors of the MAXCON company, large torque output can be provided through planetary reducers on the motors to stably drive the large and heavy dual mechanical arms, angular velocity information obtained through encoders at the tails of the motors is used for closed-loop control of the mechanical arms, the mechanical arms can obtain the precise and stable state by combining the PID algorithm, and made actions are more similar to the actions of an operator; and higher entertainment performance is achieved.
Description
Technical field
The present invention relates to the class humanoid robot of a kind of motion sensing control based on Kinect, belong to service type robot or
Humanoid robot field.
Background technology
In recent years, robotics has been widely used in Aero-Space, medical treatment, religion in continual evolution
Educate, the field such as service occupation.In this process, robot can be touched by the ordinary people of becoming out of reach.Service-delivery machine
People is the robot of a kind of half autonomous or full utonomous working, and it can complete the healthy services that is beneficial to man, including welcome
Robot, educational robot.
Kinect be Microsoft be the external equipment of a figure's perception that XBOX360 game machine is developed specially, originally
Entitled Natal.The functions such as instant motion capture, image identification, mike input, speech recognition, community interactive are utilized to allow player
Break away from the constraint of traditional game pads, played by the limb control of oneself, and realize and the Internet player interaction, share figure
Sheet, audio and video information.There is cost performance high, from however the advantages such as comfortable visual interactive mode make it deeply be liked by masses.
Existing service type robot is more representational to be had by Ruan Yin group of Japan and France Aldebaran
The Pepper of Robotics research and development and the NAO robot of France's Aldebaran Robotics research and development.Pepper machine human body
Type and mankind's build are similar, and body is four feet tall, and has a rotating base being made up of three rollers.It can consider
Surrounding, and positive react.And it is equipped with speech recognition technology, presents the joint technology of graceful attitude,
And analyze the Emotion identification technology that expression harmony is adjusted, can exchange with the mankind.His action is maneuver library based on high in the clouds,
Not having real-time learning by imitation function, but can quickly move, mobility and good stability, range of activity is big.NAO robot is then
It is a small and exquisite lovely humanoid robot, height 58cm, there are the both legs of class people, and NAO robot can compile in kinds of platform
Journey and have an open programming framework, so different software modules can preferably interact, no matter using
The professional standards of person how, can come for NAO robotic programming by Programming in Digital Image Processing platform, deeply by student and researcher
Like, and domestic also have correlational study Kinect be used for being used for imitating human action in NAO robot by person.But NAO machine
Device people is because build is less, and have employed the structure design of both legs, makes this robot quickly not move, and stability is less
Good, it is possible that phenomenon of falling, make this robot be only used in the medium smaller scope of family.
Summary of the invention
The goal of the invention of the present invention is for prior art not enough, it is provided that the class of a kind of motion sensing control based on Kinect
Humanoid robot.More natural man-machine interaction mode is introduced service type robot, and excellent by Pepper and NAO robot
Point merges, and utilizes the speech identifying function of Kinect to realize the switching of each function of robot, makes service type machine
People has more rich function, and more natural comfortable man-machine interaction mode is applied in robot, strengthens service robot
Recreational.
Robot of the present invention is processed part, STM32 slave computer part and human-like by Kinect perception and host computer
Machinery frame part three part composition；
Described Kinect perception and host computer process part include Kinect depth transducer module, quaternary Microphone Array Speech
Identification module and individual PC；
Described Kinect depth transducer module is used for gathering skeleton information；Sound identification module is used for gathering voice life
Order, switches for function；Individual PC has been then average information function served as bridge, skeleton Kinect depth transducer module obtained
Information and voice messaging are sent to STM32 slave computer part by LAN mode through processing again, and transfer to STM32 slave computer complete
Become corresponding function；
Described STM32 slave computer part includes that power supply, power panel, STM32 control mainboard and servomotor controller；Under STM32
After position machine part gets the data in LAN, control servomotor action by CAN communication network；
Described human-like machinery frame includes that the bright nurse of Mike takes turns mobile chassis, aluminum square tube health trunk skeleton, aluminium alloy head skeleton
With five degree of freedom panel beating machinery both arms.
Described Mike bright nurse wheel mobile chassis is by four RE40 servomotors, four Mike's bright nurse wheels and hitch group
Become；Being connected by shaft coupling, multidiameter, ring flange nurse bright with the first two Mike wheel by RE40 servomotor, latter two Mike is bright
Nurse wheel is arranged on suspension holdfast with RE40 servomotor, and suspension holdfast one end is hinged with chassis main frame, the other end and hanger
Hinged, hanger is hinged with chassis main frame again, plays the effect that shock-absorbing is anti-skidding；
Described aluminum square tube health trunk skeleton is formed by aluminum square tubes soldering, including two parts, first health bearing and chassis machine
Frame bolt is fixed, and it two is that health skeleton is hinged with health bearing, and and crank, connecting rod composition crank and rocker mechanism, dynamic
Power is provided by the RE35 servomotor 1 on bearing, completes holding function of bending over；
Described aluminium alloy head skeleton is hinged with aluminum square tube health trunk skeleton, and is driven crank and rocker mechanism to complete by steering wheel 1
Nodding action；
The degree of freedom distribution of described five degree of freedom sheet metal machine mechanical arm is a RE35 making mechanical arm rotate around x-axis of chest respectively
Servomotor 2, of shoulder makes the RE35 servomotor 3 that mechanical arm rotates around z-axis, and ancon has two degree of freedom, above
The RE25 servomotor 1 making ancon lower arms rotate around y-axis, below be that the RE25 making wrist last arm rotate around x-axis watches
Take motor 2.Wrist has a wrist steering wheel making palm rotate around y-axis.The RE35 servomotor 2 of chest directly passes through shaft coupling
Device, multidiameter drives whole mechanical arm to rotate.The output shaft adpting flange of the RE35 servomotor 3 of shoulder, flange and shoulder machine
Frame is fixed, and RE35 servomotor 3 is connected with ancon last arm, works as electric machine rotation, and RE35 servomotor 3 drives on oneself and ancon
Arm rotates together.Ancon last arm is connected with ancon lower arms by thrust bearing, direct by RE25 servomotor 1 output shaft
Driving ancon lower arms to rotate, RE25 servomotor 1 is affixed with ancon last arm；The RE25 servomotor 2 of ancon is then connected to
Individual quadrant, the output shaft of quadrant fixes with ancon lower arms frame, and RE25 servomotor 2 rotates, drive from
Body and wrist last arm rotate, and RE25 servomotor 2 is affixed with wrist last arm.Wrist steering wheel directly drives palm to revolve around y-axis
Turn.
Robot of the present invention work process is as follows: STM32 master control borad is got and sent by LAN by host computer
After the data come, control corresponding servomotor and rotate.Four RE40 driven by servomotor Mike bright nurse wheels control the advance on chassis
Retreat and turn to.RE35 servomotor 1 makes the bearing on health backbone winding health bearing rotate by crank and rocker mechanism, completes
Bend over action.Steering wheel 1 enables aluminum alloy to head skeleton bearing on health skeleton by crank and rocker mechanism and rotates, and completes to nod
Action.The output shaft of the RE35 servomotor 2 of chest directly drives whole mechanical arm to rotate around x-axis.The RE35 servo electricity of shoulder
Machine 3 drives ancon last arm to rotate around z-axis by counteracting force.RE25 servomotor 1 output shaft directly drives ancon lower arms
Rotate around y-axis.The RE25 servomotor 2 of ancon is then connected to a quadrant, drives self and wrist by counteracting force
Last arm rotates around x-axis, and wrist steering wheel the most directly drives palm to rotate around y-axis.
Robot in the present invention mainly has following function: 1. real time remote imitates and controls function: enter this merit
Can, you can make action before Kinect, and robot a long way off makes same action in real time, and is mounted in robot
On cam feedback return the reference information that the image of local environment controls as you to computer screen.2. teaching reappears merit
Can: entering this function, the dance movement preferred in imitation function in real time can be stored in disk by you, enters this merit
Module this robot can be allowed to reproduce the action of your last stored.3. gesture controls function: entering this function, you can utilize
The functions such as original gesture instruction set controls the forward-reverse of robot, moves left and right, brake, this function combines real time remote
Imitate function and can realize the long-range control of robot.Function and natural interactive mode that this robot is abundant have well
Recreational.
Robot of the present invention has the advantage that realizing more naturally interactive mode by Kinect controls
System, it is achieved more accurate, controls flexibly, and man-machine interaction is friendly；Robot has real time remote and imitates control function, teaching reproduction
Function, gesture control function three zones, feature richness.And the speech recognition utilizing Kinect self carries out the many merits of robot
The switching of energy, convenient and swift.Using Mike's bright nurse wheel chassis, make robot can carry out omnibearing quick movement, motion is more
Flexibly, stable.Can be used for the outdoor control that range of activity is bigger.Use the RE series of servo Motor controlling machine tool of MAXCON company
Arm, the planetary reduction gear on motor can provide high pulling torque to export, and stably drives the big and mechanical both arms of weight, motor afterbody
The angular velocity information that encoder obtains, for the closed loop control of mechanical arm, makes mechanical arm obtain in conjunction with pid algorithm precise and stable
Attitude, the action worked it out and the action of operator are more like；The build of robot is slightly larger than man's build, uses aluminum to close
Gold square tube builds the skeleton of health trunk portion, and mechanical arm part uses duralumin plate to build, and brings powerful visual impact to people,
Recreational higher.
Accompanying drawing explanation
Fig. 1 is class humanoid robot's program frame figure of motion sensing control based on Kinect in the present invention；
Fig. 2 is the inclined shaft side view of the class humanoid robot of motion sensing control based on Kinect in the present invention；
Fig. 3 is the front view of the class humanoid robot of motion sensing control based on Kinect in the present invention；
Fig. 4 is that in the present invention, the right view of the class humanoid robot of motion sensing control based on Kinect (removes left arm and electricity thereof
Machine)；
Fig. 5 is the front view of class humanoid robot's left arm of motion sensing control based on Kinect in the present invention；
Fig. 6 is the left view of class humanoid robot's left arm of motion sensing control based on Kinect in the present invention；
Fig. 7 is the front view on the class humanoid robot chassis of motion sensing control based on Kinect in the present invention；
In figure: 1-RE40 servomotor, the bright nurse of 2-Mike is taken turns, 3-suspension holdfast, 4-hanger, 5-chassis main frame, 6-health bone
Frame, 7-health bearing, 8-RE35 servomotor 1,9-aluminium alloy head skeleton, 10-steering wheel 1,11-thrust bearing, 12-RE35
Servomotor 2,13-RE35 servomotor 3,14-RE25 servomotor 1,15-RE25 servomotor 2,16-wrist steering wheel,
17-flange, 18-quadrant, 19-palm.
Detailed description of the invention
In conjunction with accompanying drawing, invention is explained as follows
As depicted in figs. 1 and 2, robot of the present invention is processed part, STM32 slave computer portion by Kinect perception with host computer
Divide and human-like machinery frame part three part composition；
Described Kinect perception and host computer process part include Kinect depth transducer module, quaternary Microphone Array Speech
Identification module and individual PC；
Described Kinect depth transducer module is used for gathering skeleton information；Sound identification module is used for gathering voice life
Order, switches for function；Individual PC has been then average information function served as bridge, skeleton Kinect depth transducer module obtained
Information and voice messaging are sent to STM32 slave computer part by LAN mode through processing again, and transfer to STM32 slave computer complete
Become corresponding function；
Described STM32 slave computer part includes that power supply, power panel, STM32 control mainboard and servomotor controller；Under STM32
After position machine part gets the data in LAN, control servomotor action by CAN communication network；
Described human-like machinery frame includes that the bright nurse of Mike takes turns mobile chassis, aluminum square tube health trunk skeleton, aluminium alloy head skeleton
With five degree of freedom panel beating machinery both arms.
Mike's bright nurse wheel mobile chassis is taken turns (2) by four RE40 servomotors (1) and the bright nurse of Mike, and hitch forms,
The first two Mike bright nurse wheel (2) is connected by shaft coupling, multidiameter, ring flange nurse bright with Mike wheel by RE40 servomotor (1),
Latter two Mike bright nurse wheel (2) and RE40 servomotor (1) are arranged on suspension holdfast (3), suspension holdfast one end and chassis machine
Frame (5) is hinged, and the other end is hinged with hanger (4), and hanger (4) is hinged with chassis main frame (5) again, plays the work that shock-absorbing is anti-skidding
With.Aluminum square tube health skeleton is then to be formed by aluminum square tubes soldering, has two parts, and one is that health bearing (7) is used with chassis main frame (5)
Bolt is fixed, and two is that health skeleton (6) is hinged with health bearing (7), and and crank, connecting rod composition crank and rocker mechanism, dynamic
Power is by the RE35 servomotor 1(8 on health bearing (7)) provide, complete holding function of bending over.Aluminium alloy head skeleton (9) with
Health skeleton (6) is hinged, and by steering wheel 1(10) drive crank and rocker mechanism to complete nodding action.Five degree of freedom sheet metal machine mechanical arm
Degree of freedom distribution be a RE35 servomotor 2(12 making mechanical arm rotate around x-axis of chest respectively), one of shoulder makes
The RE35 servomotor 3(13 that mechanical arm rotates around z-axis), ancon has two degree of freedom, above be to make ancon lower arms around y-axis
Rotate RE25 servomotor 1(14), below be the RE25 servomotor 2(15 making wrist last arm rotate around x-axis).Wrist
There is a wrist steering wheel (16) making palm (19) rotate around y-axis.The RE35 servomotor 2(12 of chest) directly pass through shaft coupling
Device, multidiameter drives whole mechanical arm to rotate.The RE35 servomotor 3(13 of shoulder) output shaft adpting flange (17), flange
(17) fix with shoulder frame, RE35 servomotor 3(13) it is connected with ancon last arm, work as electric machine rotation, RE35 servomotor 3
(13) drive and oneself rotate together with ancon last arm.Ancon last arm is connected with ancon lower arms by thrust bearing (11),
By RE25 servomotor 1(14) output shaft directly drives ancon lower arms to rotate, RE25 servomotor 1(14) with ancon last arm
Affixed；The RE25 servomotor 2(15 of ancon) be then connected to quadrant (18), the output shaft of quadrant (18) with
Ancon lower arms frame is fixed, RE25 servomotor 2(15) rotate, drive self and wrist last arm to rotate, RE25 servo electricity
Machine 2(15) affixed with wrist last arm.Wrist steering wheel (16) directly drives palm (19) to rotate around y-axis.
Such as Fig. 1, in one embodiment, enter when robot starts is voice module, when receiving voice command
Time " Change Mode ", speech trigger, enter and select function interface, send voice command and " imitate function in real time " and enter in real time
Imitating module, Kinect starts to obtain skeleton dot information, individual's PC end process the depth information that Kinect obtains, utilize
Each skeleton point absolute coordinate in Kinect coordinate system calculates the anglec of rotation of each joint motor, by LAN send to
STM32 slave computer, STM32 sends each servomotor anglec of rotation by CAN communication according to No. ID of servomotor.
RE35 servomotor 1(8) make health skeleton (6) bearing of (7) on health bearing rotate by crank and rocker mechanism, complete curved
Waist action.Steering wheel 1(10) enable aluminum alloy to the head skeleton (9) bearing rotation on health skeleton (6) by crank and rocker mechanism,
Complete nodding action.The RE35 servomotor 2(12 of chest) output shaft directly drive whole mechanical arm around x-axis rotate.Shoulder
RE35 servomotor 3(13) by counteracting force drive ancon last arm around z-axis rotate.RE25 servomotor 1(14) output
Axle directly drives ancon lower arms to rotate around y-axis.The RE25 servomotor 2(15 of ancon) then it is connected to a quadrant
(18), self and wrist last arm is driven to rotate around x-axis by counteracting force.Wrist steering wheel (16) the most directly drives palm (19)
Rotate around y-axis.Complete to imitate in real time function.
Such as Fig. 1, in one embodiment, enter when robot starts is voice module, when receiving voice command
Time " Change Mode ", speech trigger, enter and select function interface, send voice command " teaching playback function " and enter teaching
Rendering module, Kinect starts to obtain skeleton dot information, individual's PC end complete Coordinate Conversion, utilize each skeleton point to exist
Absolute coordinate in Kinect coordinate system calculates the anglec of rotation of each joint motor, and by these angle informations with time chain side
Formula record deposits into relief area, if during have a voice command " Save Action ", then the information of relief area is stored in individual PC
Disk, if during have voice command " End Save ", then clear buffer, time delay was again introduced into learning model after 3 seconds.
After " Save Action " order has performed, robot arm is first reset to original state, and then individual PC passes through LAN by magnetic
Motor angle in dish sends to STM32 slave computer, and STM32 is each according to No. ID transmission of servomotor by CAN communication
The individual servomotor anglec of rotation.RE35 servomotor 1(8) make health skeleton (6) on health bearing by crank and rocker mechanism
(7) bearing rotates, and completes action of bending over.Steering wheel 1(10) enable aluminum alloy to head skeleton (9) around health by crank and rocker mechanism
Bearing on skeleton (6) rotates, and completes nodding action.The RE35 servomotor 2(12 of chest) output shaft directly drive whole
Mechanical arm rotates around x-axis.The RE35 servomotor 3(13 of shoulder) drive ancon last arm to rotate around z-axis by counteracting force.
RE25 servomotor 1(14) output shaft directly drive ancon lower arms around y-axis rotate.The RE25 servomotor 2(15 of ancon) then
It is connected to a quadrant (18), drives self and wrist last arm to rotate around x-axis by counteracting force.Wrist steering wheel (16)
Palm (19) is the most directly driven to rotate around y-axis.Robot constantly repeats to make the action message of this storage, until again there being voice
Trigger command inputs.Complete teaching reproduction capability.
Such as Fig. 1, in one embodiment, enter when robot starts is voice module, when receiving voice command
Time " Change Mode ", speech trigger, enter and select function interface, send voice command " gesture control function " and enter gesture
Control module module, Kinect starts to obtain skeleton dot information, and STM32 master control borad gets and passed through LAN by host computer
After sending the data come, control corresponding servomotor and rotate.Four RE40 servomotors (1) drive Mike's bright nurse wheel to control chassis
Forward-reverse with turn to.When lifting on operator's left hand, the right hand is sagging, and four RE40 servomotors (1) all rotate forward, before robot
Enter；When operator's left hand is sagging, the right hand being lifted, four RE40 servomotors (1) all invert, and robot retreats；When operator is left
Hands, when the right hand is the most sagging, four RE40 servomotor (1) all self-lockings, robot starts brake and stops；When operator's left hand to the left
Flattened, the centre of the palm is opened forward, and when the right hand is sagging, left front and right back RE40 servomotor (1) reversion retreat, left back and the right side
Front RE40 servomotor (1) rotates forward advances, robot translation to the left；When operator's left hand is the most flattened, and fist is held with a firm grip, the right hand
Time sagging, left front and left back RE40 servomotor (1) reversion retreat, and right front and right back RE40 servomotor (1) are just
Turning and advance, robot turns left；When operator's right hand is the most flattened, and the centre of the palm is opened forward, when left hand is sagging, left front and the right side
Rear RE40 servomotor (1) rotates forward advances, and left back and right front RE40 servomotor (1) reversion retreat, and robot is to the right
Translation.When operator's right hand is the most flattened, and fist is held with a firm grip, when left hand is sagging, right front and right back RE40 servomotor (1) are anti-
Turning and retreat, left front and left back RE40 servomotor (1) rotate forward advances, and robot turns right, and completes gesture and controls function.
Claims (5)
1. the class humanoid robot of a motion sensing control based on Kinect, it is characterised in that: described robot is felt by Kinect
Know and host computer process part, STM32 slave computer part and human-like machinery frame part three part composition；
Described Kinect perception and host computer process part include Kinect depth transducer module, quaternary Microphone Array Speech
Identification module and individual PC；
Described Kinect depth transducer module is used for gathering skeleton information；Sound identification module is used for gathering voice life
Order, switches for function；Individual PC has been then average information function served as bridge, skeleton Kinect depth transducer module obtained
Information and voice messaging are sent to STM32 slave computer part by LAN mode through processing again, and transfer to STM32 slave computer complete
Become corresponding function；
Described STM32 slave computer part includes that power supply, power panel, STM32 control mainboard and servomotor controller；Under STM32
After position machine part gets the data in LAN, control servomotor action by CAN communication network；
Described human-like machinery frame includes that the bright nurse of Mike takes turns mobile chassis, aluminum square tube health trunk skeleton, aluminium alloy head skeleton
With five degree of freedom panel beating machinery both arms.
The class humanoid robot of a kind of motion sensing control based on Kinect the most according to claim 1, it is characterised in that: institute
State Mike's bright nurse wheel mobile chassis to be made up of four RE40 servomotors, four Mike's bright nurse wheels and hitch；Watched by RE40
Taking motor to be connected by shaft coupling, multidiameter, ring flange nurse bright with the first two Mike wheel, latter two Mike bright nurse wheel is watched with RE40
Taking motor to be arranged on suspension holdfast, suspension holdfast one end is hinged with chassis main frame, and the other end is hinged with hanger, and hanger is again
Hinged with chassis main frame, play the effect that shock-absorbing is anti-skidding.
The class humanoid robot of a kind of motion sensing control based on Kinect the most according to claim 1, it is characterised in that: institute
State aluminum square tube health trunk skeleton to be formed by aluminum square tubes soldering, including two parts, first health bearing and chassis main frame spiral shell
Bolt is fixed, and it two is that health skeleton is hinged with health bearing, and and crank, connecting rod composition crank and rocker mechanism, power by
RE35 servomotor 1 on seat provides, and completes holding function of bending over.
The class humanoid robot of a kind of motion sensing control based on Kinect the most according to claim 1, it is characterised in that: institute
State aluminium alloy head skeleton hinged with aluminum square tube health trunk skeleton, and driven crank and rocker mechanism to complete to nod dynamic by steering wheel 1
Make.
The class humanoid robot of a kind of motion sensing control based on Kinect the most according to claim 1, it is characterised in that: institute
The degree of freedom distribution stating five degree of freedom sheet metal machine mechanical arm is a RE35 servo electricity making mechanical arm rotate around x-axis of chest respectively
Machine 2, of shoulder makes the RE35 servomotor 3 that mechanical arm rotates around z-axis, and ancon has two degree of freedom, above be to make elbow
The RE25 servomotor 1 that subordinate's arm rotates around y-axis, below be the RE25 servomotor making wrist last arm rotate around x-axis
2, wrist has a wrist steering wheel making palm rotate around y-axis, and the RE35 servomotor 2 of chest is directly by shaft coupling, ladder
Axle drives whole mechanical arm to rotate, the output shaft adpting flange of the RE35 servomotor 3 of shoulder, and flange is fixed with shoulder frame,
RE35 servomotor 3 is connected with ancon last arm, works as electric machine rotation, and RE35 servomotor 3 drives oneself and ancon last arm one
Rising and rotate, ancon last arm is connected with ancon lower arms by thrust bearing, RE25 servomotor 1 output shaft directly drive elbow
Subordinate rolls over, and RE25 servomotor 1 is affixed with ancon last arm；The RE25 servomotor 2 of ancon is then connected to a right angle
Diverter, the output shaft of quadrant fixes with ancon lower arms frame, and RE25 servomotor 2 rotates, and drives self and wrist
Portion's last arm rotates, and RE25 servomotor 2 is affixed with wrist last arm, and wrist steering wheel directly drives palm to rotate around y-axis.
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| CN201610887864.9A CN106313072A (en) | 2016-10-12 | 2016-10-12 | Humanoid robot based on leap motion of Kinect |
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| CN201610887864.9A CN106313072A (en) | 2016-10-12 | 2016-10-12 | Humanoid robot based on leap motion of Kinect |
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| CN107632707A (en) * | 2017-09-18 | 2018-01-26 | 大连科技学院 | A kind of electronic pet based on Kinect technologies |
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| CN110405730A (en) * | 2019-06-06 | 2019-11-05 | 大连理工大学 | A kind of man-machine object interaction mechanical arm teaching system based on RGB-D image |
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