Design And Implementation Of Dual-arm Robot Control System Based On Android Platform

With the rapid development of social economy and the gradual improvement of human daily material level,combined with the great background of the world's information technology,the service robot has become an assistant of the human family in the form of automation and intelligence.In the control methods,Android smart phones have a great advantage,such as they are cheap,easy to carry and have become popular in human daily life.In order to better serve human beings and instead of humans doing tedious chores,the serving robots based on the Android platform have become a hot topic of current research.Based on the above background,the content of this paper is design and implementation of a dual-arm robot wireless control system based on the Android platform.This system mainly uses Arduino MCU as the core,and uses Android platform to wirelessly control dual-arm robots through WiFi module to achieve a certain crawl task.Meanwhile carries the video module,can realize the remote precise positioning within 100 m,and completes the remote crawling task through the transmitted video positioning;In the moving part,using four omnidirectional wheels to drive the movement of the robot,more than a dozen different ways of walking are achieved.In addition,this robot is equipped with three ultrasonic sensor modules,which cooperate with each other to complete the autonomous obstacle avoidance function.Firstly,according to the functional requirements of the design,the overall framework of the robot is planned and a specific model of the dual-five-degree-of-freedom robot's arm is constructed.Then the motion of the dual-arm is analyzed.According to arm the special wheel of the omnidirectional wheel,the installation structure that can realize more than ten kinds of walking can be designed.Secondly,combined with the design framework and kinematics analysis,and choose the required hardware modules and build the robot frame material,then simply test the selected hardware module.Then,the lower computer program was programmed in detail on the Arduino IDE to control the motors,sensors,servos and other modules.At the same time,use the Eclipse development tool to design an Android smart phone App that controls the work of a dualarmed robot.The software includes a main interface and five corresponding subinterfaces.Finally,assemble and test the dual-five-degree-of-freedom robot's arm,walking part,body frame,hardware circuit part,etc.The results show that the system can achieve the required functions and performance indicators.Experiments show that the dual-five-degree-of-freedom robot's arm of this dual-arm robot has a certain grasping ability and the human-computer interaction control is flexible and convenient,meanwhile the system's hardware is cheap.Combined with the advantages of the above hardware and software,this system has a certain application prospect in the fields of home service,scientific research,education and medical care.