Pneumatic single tow rope multi-joint flexible manipulator with damping

Abstract

The invention relates to a pneumatic single tow rope multi-joint flexible manipulator with damping. The manipulator comprises two or more flexible fingers and has a simple structure, convenience for maintenance and low requirement on operating environments. Each flexible finger is provided with a cylinder, a single tow rope and a triple cascade hinge with two rotational freedoms. The manipulator can generate and retain force to grab objects only depending on twisted springs on two hinge spindles of the triple cascade hinge, and enable triple cascade hinge to stretch to an initial position by the driving force of the cylinder and the effect of the tow rope for loosening the objects. The manipulator is actively driven to loosen the objects, passively grabs the objects under the action of the twisted springs, and has the characteristics of flexible freedom and acting force buffer, can realize flexible self-adaption to shapes and sizes of objects and grab force, can be applied to grabbingfragile objects and objects deforming in shape and size, and belongs to the application technology field of robots and mechatronics.

Description

Technical field: [0001] The invention relates to a pneumatic single-rope traction multi-joint flexible manipulator with damping. The manipulator is composed of two or more flexible fingers. Each flexible finger is composed of an air cylinder, a single traction rope and a three-leaf series hinge with two rotational degrees of freedom. Only rely on the action of the torsion spring on the two hinge mandrels of the three-leaf series hinge to generate and maintain the grasping force to grasp the object; rely on the cylinder power and rope traction, the three-leaf series hinge stretches to the initial position, loosen Open the grasped object. This flexible manipulator is a manipulator that is actively driven to release and passively grasped by the action of a torsion spring. It can be applied to the grasping of fragile and brittle objects, and special-shaped objects with changing shapes and sizes. It belongs to the application technology of robotics and mechatronics. field. Back...

AI Technical Summary

Problems solved by technology

[0002] When the grasping manipulator is applied to fragile and brittle objects (such as poultry eggs, porcelain) and irregular objects with varying shapes and sizes (such as melons and fruits, cosmetic bottles, etc.), it is necessary to precisely control the displacement and grasping force of the knuckle joints, otherwise it will be damaged. These types of items, but because of the limitations of cost and use environment, 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 also use flexible structural members, relying on the elastic deformation of structural members to achieve flexibility in degrees of freedom and buffering of grasping force; however, structural members The elastic deformation is a nonlinear large deflection deformation, and it is difficult to calculate and control it accurately in real time.

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