关键词: STM32, 体感交互, 机械臂, 手臂姿态, 加速度传感器, 采摘

Abstract: Agricultural picking manipulator is an important means to improve the degree of agricultural automation and production efficiency. Aiming at the problems of single control mode, low interaction with users, and low control efficiency of the traditional agricultural picking manipulator, a multifunctional body sensing manipulator system based on bionics is proposed and designed, which can simulate the picking behavior of upper limbs in realtime. The system uses STM32 microprocessor as the main control chip and six steering engines to construct the sixaxis bionic manipulator structure. MUP6050 accelerometer at the acquisition end obtains the posture information of the human arm and realizes the wireless transmission of the arm posture through the wireless transceiver chip SI4432. The receiving end of the robot arm completes the wireless reception and analysis of the arm posture to control the robot arm to imitate the action of the human upper limb. The experimental results show that the system has an average recognition rate of more than 96% and an average response time of 2-3 s. It can make corresponding simulation actions according to the movement track of the human arm, and follow the human arm to complete all kinds of grasping, flexing, extending, rotating, and other actions to better realize the function of the arm.

Key words: STM32, somatosensory interaction, manipulator, arm attitude, acceleration sensor, picking