Articulated flexible manipulator

Abstract

The invention relates to an articulated flexible manipulator which belongs to the technical field of the robots and the electromechanical integration. The manipulator is provided with three skillful fingers which are respectively arranged on three jaws of a three-jaw chuck, and the three skillful fingers produce chucking force by the function of fluid driving expansion muscle; each skillful fingeris provided with single artificial expansion muscle and a plurality of articulations with single degree of freedom, the artificial expansion muscle is flexible, axially-expandable, each smart fingeris assembled with a hinge framework or flexible hinge framework through the expansion muscle, the smart finger comprising a plurality of articulations with single degree of freedom is designed; the flexibility of the single expansion muscle and the structure of the articulations can realize the flexibility of the degree of freedom and the buffer of the chucking force, the skillful fingers have thecharacteristics of degree flexibility of freedom and chucking force buffer; and the manipulator is applied to chuck breakable brittle bodies and special bodies with shape and size change.

Description

Technical field: [0001] The invention relates to a multi-joint flexible manipulator. The manipulator has three dexterous fingers, and each dexterous finger has a single expansion muscle and multiple single-degree-of-freedom joints, and the grasping force is generated by fluid-driven expansion muscles; the manipulator is applied to The utility model is suitable for grasping fragile brittle objects and special-shaped objects with changing shapes and sizes, and belongs to the application technical field of robots and mechatronics. Background technique: [0002] When the gripping manipulator is applied to fragile and brittle objects (such as poultry eggs, porcelain) and special-shaped objects with varying shapes and sizes (such as fruits, cosmetic bottles), it is necessary to precisely control displacement and gripping force, otherwise these objects will be damaged. However, due to cost issues, precise control of manipulators is difficult to be widely used in agriculture, light ...

AI Technical Summary

Problems solved by technology

[0002] When the gripping manipulator is applied to fragile and brittle objects (such as poultry eggs, porcelain) and special-shaped objects with varying shapes and sizes (such as fruits, cosmetic bottles), it is necessary to precisely control displacement and gripping force, otherwise these objects will be damaged. However, due to cost issues, precise control of manipulators is difficult to be widely used in agriculture, light industry and other industries

In order to overcome the contradiction between precise control requirements and manufacturing costs, existing manipulators often use flexible structural rods, which rely on the elastic deformation of structural rods to achieve flexibility in degrees of freedom and cushioning of gripping force; however, structural rods The elastic deformation is a nonlinear large deflection deformation, and it is difficult to accurately calculate and control it in real time.

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