为行动障碍者设计可实用的四自由度机械手
Manipulator for people with limited abilities
- 采用机械结构+ROS控制+视觉系统一体化设计
- 实现四自由度动作，支持实际抓取操作
- 适合残障人士辅助生活，具实用推广价值
本毕业设计聚焦于开发适用于残障人士的机器人辅助系统。随着机器人与自动化技术的发展，设计能显著提升此类人群生活质量的设备成为重要课题。本文致力于研发并制造一款具备四自由度的机械手，满足实际操作需求。该工作需综合考虑机械结构设计、控制系统开发，以及与基于机器人操作系统（ROS）的视觉系统和软件平台的集成，实现从设计到应用的完整闭环。
原文摘要 · Abstract (English)
The topic of this final qualification work was chosen due to the importance of developing robotic systems designed to assist people with disabilities. Advances in robotics and automation technologies have opened up new prospects for creating devices that can significantly improve the quality of life for these people. In this context, designing a robotic hand with a control system adapted to the needs of people with disabilities is a major scientific and practical challenge. This work addresses the problem of developing and manufacturing a four-degree-of-freedom robotic hand suitable for practical manipulation. Addressing this issue requires a comprehensive approach, encompassing the design of the hand's mechanical structure, the development of its control system, and its integration with a technical vision system and software based on the Robot Operating System (ROS).
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