文献类型：期刊文献

中文题名：多功能模块化居家整理机器人的结构设计

英文题名：Structural Design of Multifunctional Modular Home Tidying Robot

作者：郦滢澄[1];虞泽宇[1];张龙涵[1];郭兆阳[1];马新玲[1]

机构：[1]华东理工大学机械与动力工程学院,上海200237

年份：2020

卷号：38

期号：6

起止页码：86

中文期刊名：轻工机械

外文期刊名：Light Industry Machinery

收录：CSTPCD

基金：上海市级大学生创新创业训练计划项目支持(编号S20060)。

语种：中文

中文关键词：智能家居;人机交互;机械抓取;模块化;树莓派

外文关键词：smart furniture;human-computer interaction;mechanical grasping;modularization;Raspberry Pi

摘要：为了实现日常居住环境的智能化,课题组设计了一款基于语音识别和移动端APP控制的多功能模块化居家整理机器人。采用树莓派处理信息、下达指令,利用单片机控制的摄像头对物品进行识别,通过超声波和红外线2种测距模块实现机器人整体避障和循迹,由搭载的6轴机械臂及配套机械爪对物品进行抓取与整理。设计了该机器人的机械爪模块、升降转台、清洁模块、万向移动底盘和摩天轮置物台等结构。实物样机运行结果表明:该机器人能够有效抓取不同形状的物品,使用过程自动化程度高,环境适应性强,整理与搬运效率高。
Aiming at the achievement of smart daily living environment,a multifunctional modular home tidying robot based on voice recognition and mobile APP control was designed.Raspberry Pi was used to process information and issue instructions,and the single-chip controlled camera was used to identify objects.The overall obstacle avoidance and tracking of the mechanical structure was realized through ultrasonic and infrared ranging modules,and the equipped sixaxis robotic arm with supporting machinery claw were used to grasp and arrange the objects.Various mechanical structures of the robot such as mechanical claw modules,lifting turntables,cleaning modules,universal mobile chassis and Ferris wheel storage tables were designed.The operation results of the physical prototype shows that the robot can effectively grasp objects of different shapes,with high level of automation in the use process,strong environmental adaptability and high efficiency in sorting and handling.