体感交互式仿上肢采摘机械臂设计.docx指导教师（签名）：房文静2023年6月1日2023年6月1日摘要农业采摘机械臂是提高农业自动化程度和生产效率的重要手段，针对传统农业采摘机械臂控制方式单一、与用户的交互性和控制效率较低的问题，提出并设计一种基于仿生学，能够实时模仿上肢采摘行为的体感交互式仿上肢机械臂系统。系统采用ST32微处理器作为主控芯片，采用6个舵机构建六轴仿生机械臂结构。红外接收器模块获取人体手臂姿态信息，通过无线收发芯片实现手臂姿态的无线传输：机械臂接收端完成手臂姿态的无线接收及解析，从而控制机械臂模仿人体上肢的动作。试验结果表明，系统对仿人体机械臂动作的平均识别率为96%以上，动作跟随的平均响应时间为2-3s,能够按照人体手臂的运动轨迹做出相应的模拟动作，跟随人体手臂完成各种抓握、屈伸、旋转等动作，较好地实现仿上肢采摘机械臂的功能关键词：STM32;体感交互；机械臂；手臂姿态；采摘ABSTRACTAiming at the problems of single control mode,interaction with users and low controlefficiency of traditional agricultural picking manipulator,a somatosensory interactive imitationupper limb manipulator system based on bionics that can imitate upper limb picking behavior inreal time is proposed and designed.The system adopts STM32 microprocessor as the main controlchip,and uses 6 servos to build a six-axis bionic robotic arm structure.The infrared receiver moduleobtains the human arm posture information,and realizes the wireless transmission of the armposture through the wireless transceiver chip;The receiving end of the robotic arm completes thewireless reception and analysis of the arm posture,thereby controlling the robotic arm to imitate themovements of the upper limbs of the human body.The test results show that the average recognitionrate of the system's human-like robotic arm is more than 96%,and the average response time ofaction following is 2-3s,which can make corresponding simulated actions according to themovement trajectory of the human arm,follow the human arm to complete various grasping,flexion,rotation and other actions,and better realize the function of imitating upper limb picking roboticarm.Key words:STM32;Somatosensory interaction;Mechanical arm;Arm posture;pick