A polydactyly underactuated end effector with sensation

Abstract

The invention discloses a multi-fingered underactuated end effector with sensation. The first, second and third knuckles of each finger are hinged, and the third knuckle is hinged with the finger turntable; the motor in the base part moves up and down through the moving plate; The third knuckles of the three fingers are connected with the moving plate through coupling rods respectively, the third knuckles of the three fingers are connected with the palm through the finger turntable, and the base and the palm are connected through a cylindrical guide rail. An underactuated mechanism is integrated between the three knuckles of each finger, and the motor drives the opening and closing of the three fingers through a differential mechanism. Sliding tactile sensors are set inside the first, second and third knuckles, and the input end of the force feedback circuit is connected to the The sliding tactile sensor is connected, and the output end of the force feedback circuit is connected with the motor through the controller. The invention has the advantages of less number of drivers, simple control, high reliability and small size, and can realize self-adaptive grasping of object shape.

Description

technical field [0001] The invention relates to an end effector, in particular to a sensory multi-fingered underactuated end effector. Background technique [0002] The end effector is an important part of the fruit and vegetable picking robot. Compared with the end effector of the industrial robot, the end effector of the picking robot has obvious Particularity and higher intelligence requirements. Generally, the skin of fruits and vegetables and the fruit itself are usually relatively fragile and soft, which puts forward relatively high requirements for the grasping force control of picking fruits. [0003] The end effector has made a great contribution to the development of agriculture, but there are still some defects: (1) The appearance of fruits and vegetables is damaged during the grasping process. The soft and fragile nature of the fruit makes it easy to damage the fruit by grasping it with a rigid body. Although the clamping fingers of all developed end effectors...

AI Technical Summary

Problems solved by technology

[0003] The end effector has made a great contribution to the development of agriculture, but there are still some defects: (1) The appearance of fruits and vegetables is damaged during the grasping process

The soft and fragile nature of the fruit makes it easy to damage the fruit when grasped with a rigid body

Although the clamping fingers of all developed end effectors use rigid bodies or rigid bodies with sponge and rubber attached to the side of the fruit, and are basically dedicated to a certain fruit variety, the rigid bodies with sponge and rubber The ability to adapt to deformation is very limited

(2) The versatility is not strong

Therefore, the picking robot can only harvest one kind of fruit, and the size and shape of the fruit should be similar, which is the main reason why the efficiency of picking robots is difficult to improve, and is also the bottleneck restricting the future development and application of picking robots

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