Design of Bipolar Plate Grabbing Manipulator Based on Visual Guidance

摘要

In order to improve the intelligent degree of the manipulator and facilitate the grasping of the electrode plate in the simulation experiment, a 3-DOF intelligent handling manipulator is designed based on the Open MV camera for visual guidance. The manipulator is made by 3D printing technology, connected by a steering gear, and controlled by STM32F103ZET6 chip. It has the characteristics of simple control and diversification. In order to ensure the stability and accuracy of the control, the robot arm action is set as the required action, and the Open MV camera is used for visual guidance. Foam rubber is used to fix the silicone anti-slip pad inside the paw, so as to further enhance the stability of the object when it is grabbed. Through the mechanical analysis of the manipulator claw, the best design scheme of the hand claw is determined. In order to realize the lightweight of the manipulator arm, the mechanical analysis of different steering gear is carried out to verify its feasibility. The research shows that, compared with the traditional manipulator, the mechanism has a higher degree of intelligence, stability and accuracy, and can meet the practical application requirements.