Pneumatic manipulator based on Kinect remote control

Abstract

The invention discloses a pneumatic manipulator based on Kinect remote control. The pneumatic manipulator comprises a Kinect sensor, a computer, a D / A embedded plate, a PWM piezoelectric pneumatic proportional valve, a pneumatic triplet body, an air compressor, artificial muscle, a spring and finger joints. The pneumatic manipulator is characterized in that the Kinect sensor is disposed on one side of the finger joints, and a camera module of the Kinect sensor faces the finger joints. The pneumatic humanoid manipulator disclosed by the invention basically has same appearance and dimensions asa human hand; the manipulator realizes human-machine interactions and can be remotely controlled; a transmission structure is novel, simple and compact; finger control is convenient, and motion is flexible; a finger motion scope is large, and an application scope is wide; through use of a pneumatic manipulator system, pollution generated by a hydraulic mode cannot be generated even if leakage occurs; the PWM piezoelectric pneumatic proportional valve is quick in dynamic responses, low in cost and highly resistant to noise; and each pixel of an image returned by a camera of the Kinect sensor denotes a distance between the point and the camera, and a unit is mm, so that detection accuracy is high.

Description

technical field [0001] The invention relates to the field of human-computer interaction, in particular to a Kinect-based remote control pneumatic manipulator. Background technique [0002] With the development of robotics, the application fields of robots are constantly expanding, and the complexity of robot tasks and environments is increasing. For the current traditional robot human-computer interaction, joysticks or buttons are usually used, which has cumbersome operations and system problems. Shortcomings such as long delay. [0003] Human joints have excellent characteristics that current robots do not have. They can achieve more accurate position control and have good flexibility. This characteristic is largely determined by the way the antagonistic muscles are driven by the joint. At present, there are some shortcomings in the joint drive device of the manipulator, for example: due to the large number of mechanisms used, a large amount of energy is consumed to overc...

AI Technical Summary

Problems solved by technology

At present, there are some shortcomings in the joint drive device of the manipulator, for example: due to the large number of mechanisms used, a large amount of energy is consumed to overcome the friction between the mechanisms during the transmission process, so that the energy at the output end is much lower than the energy generated at the input end; The structure of the device is complex and the external volume is large, which affects the flexibility of use

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