可复现的视觉引导6自由度机械臂：混合步进电机驱动器架构与浏览器原生控制
Reproducible Vision-Guided 6-DoF Robotic Manipulator with a Mixed Stepper-Driver Architecture and Browser-Native Control
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中文总结 AI 辅助
该研究推出开源低成本6自由度机械臂NeuralNexus Arm，采用混合步进驱动器架构与浏览器原生控制，具备视觉引导自主抓取能力，所有设计开源且可复现。
中文摘要 AI 辅助
我们展示了由一支本科工程团队打造的低成本开源6自由度机械臂NeuralNexus Arm，以及复现该机械臂所需的设计决策与调试经验。该机械臂由定制印刷电路板（PCB）上的单颗STM32H743微控制器驱动，在单一控制器上结合了两种步进电机驱动器策略：针对三个腕关节板载TMC2209驱动器的推挽式3.3V脉冲/方向输出，以及针对三个高扭矩近端关节外部CL57T与DM542驱动器的开漏输出。我们详细描述了机械设计、混合驱动器电子系统、中断驱动固件、基于MATLAB/Simscape的逆运动学流水线、采用Web Serial API的浏览器原生控制界面，以及用于物体定位与自主抓取任务的轻量视觉流水线。我们还记录了从开发板过渡到定制PCB过程中遇到的非显而易见的硬件与固件故障模式，作为可复现性指导。所有设计文件与固件均已开源。该平台以2kHz更新率协调控制所有6个轴，可执行手动及从浏览器界面预录的运动。
英文摘要
We present the NeuralNexus Arm, an open, low-cost 6-DOF robotic manipulator built by an undergraduate engineering team, together with the design decisions and debugging experience needed to reproduce it. The arm is driven by a single STM32H743 microcontroller on a custom printed circuit board (PCB) and combines two stepper-driver strategies on one controller: push-pull 3.3 V step/direction outputs for onboard TMC2209 drivers on the three wrist joints, and open-drain outputs for external CL57T and DM542 drivers on the three high-torque proximal joints. We describe the mechanical design, mixed-driver electronics, interrupt-driven firmware, a MATLAB/Simscape-based inverse-kinematics pipeline, a browser-native control interface using the Web Serial API, and a lightweight vision pipeline for object localisation and autonomous pick-and-place tasks. We also document non-obvious hardware and firmware failure modes encountered during the transition from a development board to the custom PCB as reproducibility guidance. All design files and firmware are released openly. The platform actuates all six axes under coordinated control at a 2 kHz update rate and executes both manual and pre-recorded motions from the browser interface.
发表机构
- University of Moratuwa（莫拉图瓦大学）
机构由 AI 辅助整理，请以论文原文为准。
