高手在民间 米兔积木机器人打造机械臂：能抓球
去年11月，小米推出了米兔积木机器人，978个零件构成，支持手机遥控、支持模块化图形编程，售价499元。
米兔积木机器人包装规格38x32x9cm，共由978块零件制作而成，包含齿轮组、链条、万向轴等等。
两个大马力碳刷电机，转速可达133转/分钟，旋转扭矩可达24N/cm。 电机内置光电码盘，可以准确判断机器人的速度和方向，最终输出轴可以精确控制到1&。
现在已经有不少米粉拿到了这款产品，官方昨天就在微博分享了一组网友的作品，可以说高手在民间！
体操运动员
自行车骑行台
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专利名称: 用于机械臂的可连续发球的发球机构
所属部门: 机器人学研究室
专利权人: 中国科学院沈阳自动化研究所
专利代理: 沈阳科苑专利商标代理有限公司21002
专利国别: 中国
专利类型: 实用新型
专利状态: 失效
摘要: 一种用于机械臂的可连续发球的发球机构，属于机器人技术领域。包括电机座及固定在其上的输球管道、弹射装置、阻挡装置，输球管道与弹射装置的发球管道连接，阻挡装置的阻挡杆伸入弹射装置的发球管道内。本实用新型由固定在电机座上的输球机构、弹射装置及阻挡装置相互配合连接构成，结构简单、紧凑，易于安装，不占用更多空间，通过简单的结构就可达到工作目的。本实用新型的弹射装置通过安装滑块调节螺栓调节弹簧的弹力，使发球的弹射力可调；在输球管道内设的球槽中置有阻挡装置的阻挡杆，使乒乓球固定良好；电机带动的凸块驱动滑块挡板，从而带动滑块运动，通过滑块上弹簧的弹力作用，触发兵乓球，发球效果好，可靠实用。
英文摘要: The utility model discloses a ball serving mechanism that can serve balls successively for a mechanical arm, pertaining to the technical field of robots. The ball serving mechanism comprises a motor seat, and a ball transmitting pipe, a jettison device and a retaining device which are fixed on the motor seat, wherein the ball transmitting pipe is connected with a ball serving pipe of the jettison device, and a retaining rod of the retaining device stretches into the ball serving pipe of the jettison device. The ball serving mechanism is formed by mutual cooperation and connection of the ball serving mechanism, the jettison device and the retaining device which are fixed on the motor seat, and the ball serving mechanism has simple and compact structure, is easy to be installed, does not occupy more space, and can achieve work purpose by the simple structure. The jettison device regulates the elastic force of a spring by installing a slide block regulating bolt, thus causing the ejection force for serving balls to be adjustable the retaining rod of the retaining device is arranged in a ball groove arranged in the ball transmitting pipe, thereby well fixing a ping-pong and a motor drives a bulge to drive a slide block retaining plate so as to drive the slide block to move and the ping-pong is triggered under the effect of the elastic force of the spring on the slide block, thereby having good ball serving effect and being reliable and practical.
是否PCT专利: 否
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语种: 中文
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CN.1.pdf（365KB）专利--开放获取
Recommended Citation:
李斌,郑怀兵,张国伟,等. 用于机械臂的可连续发球的发球机构. CNU. 2010.
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2017 ，53（3 ）
Computer Engineering and Applications 计算机工程与应用
羽毛球机器人机械臂运动轨迹多目标规划
应文杰，徐 开，徐少平
YING Wenjie, XU Kai, XU Shaoping
南昌大学 信息工程学院，南昌 330031
School of Information Engineering, Nanchang University, Nanchang 330031, China
Multi- objective
trajectory
manipulator
Computer Engineering and Applications, 2017, 53 （3 ）：258-265.
Abstract: In order to achieve the high-speed smooth movement to play the badminton continuously for the manipulator of
badminton robot, this paper proposes a new multi-objective trajectory optimization model of manipulator. To begin with,
the optimization establishes the pose expression of manipulator through successive coordinate transformation, according
to D-H model. After that, it uses the Newton descent method to solve the disaggregation of inverse kinematics for the giv-
trajectory
disaggregation
kinematics
path algorithm. Finally, to achieve the continuous smooth trajectory of manipulator, it uses the cubic spline interpolation
to establish the function of motors ’rotating angle, evolving in time, in accordance with the optimal solution. The results
of experiments show that the new trajectory optimization model can effectively reduce energy consumption of motor, in-
crease the turning efficiency, and ensure the response rate of manipulator sequentially.
Key words: D-H N sho cubic spline interpolation
摘 要：为了实现羽毛球机器人机械臂高速连续平滑地击打羽毛球动作，提出了一种新的多目标机械臂运动轨迹优
化模型。首先，该轨迹优化模型根据D-H 运动学模型，通过坐标变换建立机械臂的位姿表达式。然后，采用牛顿下
山法求出给定路径关键点的运动学逆解集，并基于最短路径算法从逆解集中求出最优解。最后，根据所求出最优
解，采用三次样条插值建立电机转角函数，以实现机械臂的连续平滑运动。实验结果表明：新的轨迹优化模型能够
有效地降低电机能耗和提高转动效率，从而保证了机械臂响应速度。
关键词：轨迹
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