南通大学学报（自然科学版）

为了帮助部分残障人士提高生活自理能力,设计了一种姿态控制型智能机械臂装置.该装置的前端监测模块以STM32F103微处理器为核心,使用MPU6050传感器采集头部姿态数据,处理后经WiFi送出;装置的执行控制模块则以STM32F407微处理器为核心,以WiFi模块接收采集数据,控制机械臂做出相应动作;装置还可以通过手机App,实现由语音识别控制整个装置的启停,以及机械爪的开合等功能.装置的各模块都通过无线局域网互联互通,安装灵活方便.经实际测试可见,通过头部运动及语音指令,该装置能够控制机械臂准确完成对物体的抓取、移动及释放等动作,达到了模拟手臂基本功能的效果.

In order to help some disabled people improve their self-care ability, an intellectual robotic arm device controlled by the posture is designed. In the front-end monitoring module, the STM32F103 microprocessor is designed as the core, the MPU6050 sensor is used to collect the data of head posture and the data were sent out through WiFi after processing. In the execution control module, the STM32F407 microprocessor is designed as the core, the collected data were received with WiFi module and the robotic arm is controlled to make corresponding actions. The mobile app is also used to realize speech recognition, which controlls the start and stop of the whole procedure and controlled the opening and closing of mechanical claws. Each module of the device is interconnected by wireless local area network, which is flexible and convenient to install. The test results reveal that, the mechanical claws can be controlled to grasp, move and release objects through head movement and voice commands. Then the basic functions of the arm can be simulated.