设计一种基于计算机视觉的低成本三角机器人手臂

IF 1.2 Q3 ENGINEERING, MECHANICAL FME Transactions Pub Date : 2023-01-01 DOI:10.5937/fme2301099p
Phuong Hoai, V. Cong, T. Hiep
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引用次数: 1

摘要

在本文中,我们开发了一种低成本的delta机器人手臂,用于抓取不确定大小的物体。采用步进电机代替交流伺服电机来构建低成本的三角机器人手臂。此外,我们使用现有的材料和加工方法,如激光切割和3d打印,而不是数控铣削和车削,以降低制造成本。该控制器基于一种低成本的嵌入式控制器- Arduino Uno来控制机器人的运动。构建视觉系统来确定工作空间中物体的三维坐标以及物体的大小。抓手张开两根手指的距离,与物体的大小相等,机器人被控制到物体的坐标来抓取它们。开发了一个在传送带上拾取物体的应用程序来验证该设计。实验结果表明,机器人系统工作正确,机械臂运动平稳,视觉系统确定的信息误差小,保证了机器人能够准确拾取产品。
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Design a low-cost delta robot arm for pick and place applications based on computer vision
In this paper, we develop a low-cost delta robot arm for grasping objects of unspecified size thanks to a vision system. Stepper motors are used instead of ac servo motors to build a low-cost delta robot arm. Furthermore, we use available materials and machining methods such as laser cutting and 3d printing instead of CNC milling and turning to reduce fabrication costs. The controller is based on a low-cost embedded controller - Arduino Uno for controlling the robot's motion. The vision system is constructed to determine the 3D coordinate of objects in the workspace as well as the sizes of objects. The gripper is opened with a distance of two fingers equal to the size of the objects, and the robot is controlled to the objects' coordinates to grasp them. An application to pick up objects on a conveyor belt is developed to validate the design. The experimental results show that the robot system works correctly, the robot arm moves smoothly, and the information determined by the vision system has a small error, ensuring that the robot can accurately pick up products.
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来源期刊
FME Transactions
FME Transactions ENGINEERING, MECHANICAL-
CiteScore
3.60
自引率
31.20%
发文量
24
审稿时长
12 weeks
期刊最新文献
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