摘  要：随着科技进步和人们生活水平的提高，服务行业在生活中扮演着越来越重要的作用。迎宾机器人机械手则可作为服务行业智能化的代表，通过精准模仿人手臂的动作以达到服务大众的作用。80259

迎宾机器人机械手是集语音识别技术和智能运动技术于一身的高科技展品，该机械手臂的硬件设计以人的手臂为原型，模仿人手臂的手型、长度等以给人以真切之感。软件部分分为底层和上位机部分，底层模拟类似操作系统的任务处理系统，配合着上位机的语音识别技术来模仿人的手臂的各种动作与功能，例如通过语音来控制机械手臂向左移、向右移、向上移、向下移及刷卡等动作，已达到更好的服务大众，无不体现着人性化、智能化。 

本次毕业设计底层部分采用的是意法半导体的STM32F103ZE系列的单片机，配合着官方提供的V3。5版库函数，使用语言为C语言。此次设计还设计上位机的软件的开发，上位机通过RS232串口与底层相连，运行环境为Windows 7旗舰版，使用语言为C#语言，框架为Framework 4。0。

毕业论文关 键 词：物联网，机械手，语音识别

Abstract：With the development of science and technology and the improvement of people's living standard, the service industry plays more and more important role in life。 Yingbin robot manipulator as a service industry intelligence on behalf of, through precise imitation of human arm movements in order to achieve the goal of serving the public。

Yingbin robot manipulator is a set of speech recognition technology and intelligent motion technology in a body high-tech exhibits, the hardware design of the mechanical arm to arm as the prototype, imitation arm hand type, length, to give people a sense of the real。 Software part is part of the bottom and upper computer, simulating the underlying operating system similar to the task processing system with host computer speech recognition technology to imitate human arm movements and function, for example by voice control mechanical arm to the left shift, to the action of the shifted to the right, move upward, downward shift and the swipe card etc。, has reached the better service to the public, and embody the humane, intelligent。

The graduation design of the bottom part of the sense of the semiconductor STM32F103ZE series microcontroller, with the official V3。5 version of the library function, the use of language for the C language。 The design is also the design of the host computer software development, the host computer through the RS232 serial port connected to the bottom, the operating environment for the Windows 7 ultimate, the use of language for the C# language, the framework for the Framework 4。

Keywords: The Internet of things，manipulator，speech recognition

目  录

1  绪论 5

1。1  课题背景 5

1。2  主要内容 6

1。3  本章小结 7

2  迎宾机器人机械手的总体设计 7

2。1  设计目标 7

2。2  系统架构 7

2。3  机械手总体结构的类型与选择 8

2。4  机械手驱动方式的类型与选择 9

2。5  软件控制部分层次结构 10

2。6  本章小结 11

3  迎宾机器人机械手的硬件控制系统 12

3。1  设计目标