Leap motion parallel mechanical arm based on Leap Motion and operation method and control system of leap motion parallel mechanical arm

A manipulator and parallel technology, applied in manipulators, manufacturing tools, etc., to improve work efficiency, ensure efficient use, and save space

Active Publication Date: 2016-02-03
佟彧
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] At present, some parallel manipulators have appeared on the market, but

Method used

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  • Leap motion parallel mechanical arm based on Leap Motion and operation method and control system of leap motion parallel mechanical arm
  • Leap motion parallel mechanical arm based on Leap Motion and operation method and control system of leap motion parallel mechanical arm
  • Leap motion parallel mechanical arm based on Leap Motion and operation method and control system of leap motion parallel mechanical arm

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0046] Such as Figure 1-4 , a somatosensory parallel manipulator based on LeapMotion, which includes a bottom connecting bracket 1 of the parallel manipulator, three connecting brackets 1 and three stepping motor brackets 2 are connected end-to-end to form a hexagonal frame base, and the stepping motor bracket 2 is fixedly installed There is a miniature touch switch 7, and the miniature touch switch 7 is used to control the emergency stop of the pulley block bracket 5 installed on the stepping motor bracket 2, and limit the upper limit position of the pulley block. Synchronous belt 8, the upper end of the threaded rod assembly 4 is connected to the pulley block bracket 5, the lower end is connected to the manipulator fixture 9, the manipulator 3 is fixed on the lower end of the manipulator fixture 9, and the manipulator 3 is directly below the chassis 10 for storing objects. The up and down sliding of a pulley block bracket 5 is used to control the picking and placing of obje...

Embodiment 2

[0057] Such as Figure 9 , the operation method of the somatosensory parallel manipulator based on LeapMotion, which includes the following steps:

[0058] T1, the real-time data provided by the hands, fingers or tools within the bounding field of vision through Leap, these data are mostly expressed by collection or frame data, each frame contains a series of basic binding data, the device will give each The basic binding data of the series is marked with a unique ID number. As long as the entity does not leave the visible area of ​​the device, the ID number will remain unchanged. A gesture library for controlling parallel manipulators is established through different gestures, including the up and down of the manipulator. Down, left, right, forward, backward, grab and release actions. Gesture libraries can also be established by using real-time recognition of gestures in the scene and custom data.

[0059] T2, the operator manually operates on LeapMotion to form different g...

Embodiment 3

[0069] Such as Figure 10 , the control system of the somatosensory parallel manipulator based on LeapMotion, which includes the AVR main control board, the LeapMotion controller is connected with the signal input terminal of the AVR main control board through the signal line; the external input signal input terminal is also connected with the AVR main control board; the AVR main control board The signal output end of the control board is connected to three synchronous motors 208 at the same time, and then respectively realizes the up and down sliding of the three sets of pulley brackets 5, and at the same time connects to the input end of the AVR main control board through the micro touch switch 7 and the lower limit baffle plate 211 , forming a closed-circuit control loop; the steering gear 312 of the manipulator 3 is connected to the signal output terminal of the AVR main control board to realize the picking action of the object.

[0070] Concrete work process of the presen...

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Abstract

The invention relates to a leap motion parallel mechanical arm based on Leap Motion and an operation method and control system of the leap motion parallel mechanical arm. Three connecting supports and three stepping motor supports are alternately connected end to end to form a hexagonal frame base. Minitype touch switches are fixedly mounted on the stepping motor supports. Synchronous belts for driving pulley block supports to slide vertically are arranged on synchronous belt pulley frames. The upper ends of threaded rod assemblies are connected with the pulley block supports, and the lower ends of the threaded rod assemblies are connected with mechanical arm fixing pieces. A mechanical arm body for clamping objects is fixed to the lower ends of the mechanical arm fixing pieces. A bottom tray for storing the objects is arranged under the mechanical arm body. The mechanical arm body is controlled by vertical sliding of the three pulley block supports to take and place the objects stored on the bottom tray. The motion of the mechanical arm is controlled by combining the leap motion technology and the Leap Motion controller, a traditional program control method is replaced, and automatic control can be achieved conveniently.

Description

technical field [0001] The present invention relates to a somatosensory parallel manipulator based on LeapMotion, an operation method and a control system, in particular to combining the popular somatosensory technology with a multi-degree-of-freedom parallel robot, and controlling the action of the manipulator is not only a pre-written program but also a control system. It is to achieve the purpose of controlling the movement of the manipulator by the user's gesture. Background technique [0002] The manipulator is a new type of device developed in the mechanized and automated production process. In the modern production process, manipulators are widely used in automatic production lines. The development and production of robots has become a new technology that has rapidly developed in the high-tech field. It further promotes the development of manipulators, enabling manipulators to Better realize the organic combination with mechanization and automation. However, most of...

Claims

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Application Information

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IPC IPC(8): B25J3/00
Inventor 杜轩朱康潘志成秦波
Owner 佟彧
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