北京理工大学珠海学院 2016 届本科生毕业设计基于图像识别的物料分拣系统——机械臂设计与控制基于图像识别的物料分拣系统——机械臂设计与控制摘 要21 世纪的今天,科技高度发达,为了顺应当代科技潮流本文设计出自动物料分拣的机械臂,以配合我们设计的基于 Matlab 图像识别的物料分拣系统。本文以这四个自由度的机械臂为研究对象,对其进行机械机构的设计,静力学分析,用 SolidWorks 的 Simulation 进行有限元分析,进而验证机械臂的可行性,然后采用 Arduino 开发板来控制舵机,就是通过信号线发送一系列脉冲,改变脉冲宽度来改变舵机的旋转角度,从而实现机械臂产生不同的运动。最后基于Proteus 软件对舵机进行仿真,得到仿真出来的脉冲宽度。分拣的总工作流程就是利用 Matlab 进行图像识别,检测出该物料的类别,然后输出坐标和数据给 Arduino,事先在 Arduino 中编写程序,产生脉冲控制舵北京理工大学珠海学院 2016 届本科生毕业设计机转动,从而完成机械臂对物料的整个分拣动作。关键词: SolidWorks 有限元分析;Arduino 控制系统;PWN 脉冲;舵机; Proteus 仿真Material Sorting System Based on Image Recognition——Design and Control of ManipulatorAbstractIn the 21st century, science and technology is highly developed. In order to adapt to the trend of modern technology, this article designs a robotic arm for automatic material sorting to match the material sorting system based on Matlab image recognition that we designed. This article takes these four degrees of freedom 北京理工大学珠海学院 2016 届本科生毕业设计manipulators as the research object, conducts mechanical mechanism design, static analysis, and uses SolidWorks Simulation to perform finite element analysis to verify the feasibility of the manipulators, and then uses the Arduino development board to control The servo is to send a series of pulses through the signal line, and change the pulse width to change the rotation angle of the servo, so as to realize different movements of the mechanical arm. Finally, the ser...