生物模拟机器人手臂由IMU传感器远程控制,用于危险的化学实验
Taegang Kim1, Geunho Do1, Il-Jung Kwon1
1Department of Mechanical Engineering, Korea Maritime and Ocean University, 727 Taejong-ro, Busan, Yeongdo-gu, Republic of Korea.
概括
这项研究引入了一种遥控的仿生机器人手臂,可以通过惯性测量单元 (IMU) 传感器模拟人类的运动. 这项创新通过减少人类接触危险材料来提高化学实验的安全性.
科学领域:
- 机器人技术 机器人技术 机器人技术
- 生物模拟学是一种生物模拟学.
- 化学工程是化学工程的重要组成部分.
背景情况:
- 化学实验频率的增加与相关事故的增加有关.
- 需要加强安全措施,在实验期间保护人员免受危险化学品的影响.
研究的目的:
- 设计一个遥控的仿生机器人手臂,用于安全处理危险化学品.
- 在不影响实验自主性的情况下,减少化学实验中的人类伤亡.
主要方法:
- 开发一个6度自由度 (DOF) 的仿生机器人手臂.
- 基于惯性测量单元 (IMU) 传感器的定制微电机械系统 (MEMS) 与加速仪-陀螺仪和无线通信的集成.
- 使用微控制器单元 (MCU) 来控制基于IMU传感器数据的机器人手臂运动.
主要成果:
- 机器人手臂准确地复制操作员的运动,机器人手臂有三个IMU传感器,安装在操作员的身体上.
- 紧密跟踪操作员的关节运动和轨迹,关节角度误差低于5.2%.
- 在各种运动和负载条件下观察到稳定的系统性能,尽管时间延迟1.4s.
结论:
- 开发的系统可以通过仿生机器人手臂运动安全处理危险化学品.
- 基于IMU的传感和无线控制为危险环境中的远程操作提供了可行的解决方案.
- 该系统提供了一种有前途的方法来提高安全性,并保持化学研究中的实验自主性.
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