Reconfigurable man-machine cooperation mechanical arm system based on WIFI

Abstract

The invention discloses a reconfigurable man-machine cooperation mechanical arm system based on WIFI. The system comprises joints, a reconfigurable interface and an arm lever, wherein the joint is cooperated with the reconfigurable interface through the rabbet at a drive end of the reconfigurable interface; and the arm lever is cooperated with the reconfigurable interface; the system further comprises a smart terminal, a WIFI communication module, a joint servo controller, a sensor signal acquisition module, a motor driving module and a joint motor; the smart terminal is connected with the joint servo controller through the WIFI communication module; the output end of the joint servo controller is connected with the motor driving module; the output end of the motor driving module is connected with the joint motor; and the output end of the sensor signal acquisition module is connected with the input end of the joint servo controller. By use of the wireless communication, the fast reconstruction of the control system is facilitated; the stable data sending can be realized by taking the WIFI as the wireless communication way in the mechanical arm. The system can be extensively applied to the robot field.

Description

technical field [0001] The invention relates to the field of robots, in particular to a WIFI-based reconfigurable man-machine cooperative manipulator system. Background technique [0002] Looking at the development status of space manipulators at home and abroad, joints, as the core of manipulators, generally adopt a modular design concept and hollow wiring to achieve a high degree of integration of machinery, control, and electricity. In addition, due to the diversity and complexity of space on-orbit service tasks, the development of reconfigurable manipulators has been promoted. Traditional manipulators are developed based on a certain function, and modules cannot be replaced between modules. They can only complete a single On-orbit missions are costly and long-term. It is a realistic method to use a reconfigurable manipulator to complete different tasks by changing its configuration. Reconfigurable manipulators are developed on the basis of modular manipulators, and can ...

AI Technical Summary

Problems solved by technology

[0004] In order to solve the above-mentioned technical problems, the object of the present invention is to provide a wireless communication reconfigurable human-machine cooperative manipulator that can solve the problem of single function of the traditional space manipulator, inability to replace modules and modules, and internal complicated and redundant cable routing.

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