基于凸轮机械手的自动网球拾取机器人设计

Design of automatic tennis pickup robot based on cam manipulator

文章对基于凸轮机械手的自动网球拾取机器人设计进行了全面的说明,该系统以凸轮的推程和回程两个工作行程为基础实现机械手的抓取和释放,全面阐述了凸轮及机械手连杆的参数选择和计算。利用视觉识别系统对网球进行识别与定位,控制机械手对网球进行抓取,并通过巡回式的运动轨迹实现对整个球场的清理,是一种可实现的网球拾取机器人方案。

The design of automatic tennis pickup robot based on cam manipulator is explained in this paper.The system realizes the grasping and release of manipulator with two working stroke of cam push and return,and expounds the parameter selection and calculation of cam and manipulator connecting rod in an all-round way.The visual recognition system is used to identify and locate the tennis ball,to control the manipulator to grasp the tennis ball,and to clean up the whole stadium through the patrol movement track.it is a kind of tennis picking robot scheme that can be realized.