低成本6轴机械臂用混合驱动+浏览器控制，开源可复现
Reproducible Vision-Guided 6-DoF Robotic Manipulator with a Mixed Stepper-Driver Architecture and Browser-Native Control
- 混用推挽与开漏输出驱动，单STM32芯片统一控制
- 2kHz更新率下实现六轴协同运动，支持浏览器远程操控
- 开源设计+故障排查指南，适合教学与工程复现
我们介绍了NeuralNexus Arm，一个由本科生团队开发的开源、低成本6-自由度机器人机械臂，附带完整的可复现设计与调试经验。该机械臂基于定制电路板上的单个STM32H743微控制器运行，采用混合步进驱动策略：三个腕关节使用3.3V推挽式步/方向输出连接板载TMC2209驱动器，三个高扭矩近端关节则使用开漏输出驱动外部CL57T和DM542驱动器。论文描述了机械结构设计、混合驱动电路、中断驱动固件、基于MATLAB/Simscape的逆运动学流程、通过Web Serial API实现的浏览器原生控制界面，以及用于物体定位与自主抓取的轻量视觉流水线。同时记录了从开发板迁移到定制PCB过程中遇到的非显性软硬件故障模式，提供可复现指导。所有设计文件与固件均公开。该平台在2kHz更新率下协调驱动全部六轴，支持通过浏览器执行手动与预录动作。
原文摘要 · Abstract (English)
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.
Thank you to arXiv for use of its open access interoperability. PaperDance 不是 arXiv 官方产品；中文卡片由大模型生成，请以原文为准。