基于四臂协调控制的魔方还原系统设计与实现

Design and implementation of Rubik′s Cube restoration system based on four-arm coordinated control

为了解决舵机本身旋转角度的限制、滑轨机械自由度的限制,以及在四机械臂的机械限制下能够协调控制旋转魔方6个平面的问题,针对魔方结构建立易于控制的位置状态模型,通过切换魔方位置状态控制其所有平面。建立舵机及机械臂的状态模型,进而针对建立的模型设计四机械臂协调控制算法,有序执行魔方的各个旋转操作。通过设计控制电路、舞台演示模块、滑轨机械臂、U型机械手等模块完成系统硬件搭建,并根据四机械臂协调控制算法设计了完整的控制程序。结果表明,系统通过四机械臂协调控制算法能够在现有机械结构的限制下流畅地将一个任意打乱、任意放置的魔方还原,实现教学演示与科普展示的推广使用。系统中的颜色识别和机械手的协同控制部分为其他分拣装配提供了新的思路,对无人自动展示装置等设计也具有一定的参考价值。

In order to solve the limitation of the rotation angle of the servo, the limitation of the degree of freedom of the mechanism of the slide rail, and the problem of coordinated control of the six planes of the Rubik′s cube under the mechanical constraints of the four robot arms, an easy-to-control position state model is established for the Rubik′s cube structure, and the function going to all the planes of the Rubik′s Cube is realized by switching position states. The state model of the servo and the robot arm is established, and then the four-armed coordinated rotation control algorithm is designed to perform the rotation operations of the Rubik′s cube in an orderly manner. The system hardware is built by designing the control circuit, the stage demonstration module, the slide rail arm, the U-shaped robot and other modules, and the complete control program is designed according to the four-arm coordination control algorithm. The results show that the system can smoothly restore an arbitrary chaotic and arbitrarily placed Rubik′s cube under the restriction of the existing mechanical structure through the four-arm coordinated control algorithm, and realize the promotion of teaching demonstration and popular science display. The part of color recognition and coordinated control of the robot in the system provide new ideas for other sorting assemblies, and also have certain reference value for the design of unmanned automatic display devices.