Multi-sensor feedback adaptive robot finger device and control method thereof

Abstract

The invention discloses a multi-sensor feedback adaptive robot finger device and a control method thereof, and belongs to the technical field of robot hands. The device comprises two finger sections, a joint shaft, a motor, three sensors, a control module and a motor driving module. The device is a robot finger device for comprehensively implementing parameter adjustment and program control by using multiple sensors for feeding back signals, the motor driving module, the control module and an adaptive grabbing control algorithm; the device can realize adaptive grabbing of objects of differentshape and size, is easier to trigger the adaptive grabbing action, and is stable in grabbing, controllable in grabbing force and short in transmission chain; when the device is used for grabbing different objects, reprogramming is not needed; and the device is simple and convenient to use, meets requirement for grabbing of multiple objects, and can realize a robot hand with high flexibility and degree of freedom, high adaptability, low control difficulty and high reliability.

Description

technical field [0001] The invention belongs to the technical field of robot hands, and in particular relates to the design of a multi-sensor feedback adaptive robot finger device and a control method thereof. Background technique [0002] Anthropomorphic robot is the cutting-edge field of robot research, and most of its functions need to be realized by the operation of the robot hand. Therefore, the design of hand structure is the key technology of humanoid robot design. Adaptive grasping has the characteristics of automatically adapting to the shape and size of objects, which reduces the difficulty and cost of control, and has become a hot spot in the research of robotic hands. [0003] Existing robot fingers with adaptive grasping characteristics are all mechanical underactuated fingers, such as underactuated fingers realized by gear transmission (CN1289269C), and underactuated fingers realized by connecting rod transmission (US5762390). The mechanical underactuated fin...

AI Technical Summary

Problems solved by technology

The mechanical underactuated finger transmission chain is long, and problems such as air travel, gaps and lost steps will occur during the transmission process, which will reduce the finger grasping performance

The underactuated trigger threshold of the mechanical underactuated finger is too large, and the degree of bending of the underactuated finger is proportional to the degree of object extrusion. It cannot work. When the grasping force of the first finger segment is large, although the underactuated finger can achieve adaptive grasping action, it will cause the grasping force of the second finger segment to be very small compared with the grasping force of the first finger segment. And the two are in a certain ratio. In order to improve the grasping force of the second finger segment, the grasping force of the first finger segment has to be increased, but the excessive grasping force of the first finger segment will crush the object. Therefore, for many objects Mechanical underactuated finger gripping is far from ideal for grasping

[0004] The dexterous hand that is actively controlled by motors and sensors can also grasp objects, but the disadvantage of the dexterous hand is that it does not automatically adapt to the shape and size of the grasped object, and requires a lot of complex kinematics and dynamics. Computing also requires complex programming for the current problem to achieve multi-joint coordinated motion control, which is difficult to meet the requirements of reliable and robust grasping in an unstructured environment. As well as the technology of complex control theory, it is expensive and has high requirements for operators, so it has been difficult to be widely used for a long time.

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