Controllable three-finger manipulator and control method thereof

Abstract

The invention relates to a controllable three-finger manipulator. The controllable three-finger manipulator comprises a mechanical part and a control frame, wherein the mechanical part comprises a hand part, a wrist and an arm; the hand part consists of fingers and a force transfer mechanism; each finger consists of two pieces of mechanical fingers; the force transfer mechanism consists of six support rods, six gear pieces and four bevel gears; the arm comprises a small arm connecting frame and a large arm connecting frame; steering engines are respectively mounted on swing pairs in the connected place between the hand part and the small arm connecting frame, the connected place between the small arm connecting frame and the large arm connecting frame and the connected place between the large arm connecting frame and a base; the control frame is mounted on an arm of an operator, and comprises potentiometers; and the potentiometers can obtain rotating angles of the arm and the fingers of the operator. The invention further relates to a control method of the controllable three-finger manipulator. The controllable three-finger manipulator and the control method thereof have the beneficial effects of improving the finger sensitivity and the grabbing and releasing speed, realizing the human-computer synchronization motion and becoming more humanized.

Description

technical field [0001] The invention relates to a controllable three-finger manipulator and a control method thereof, belonging to the field of mechanical equipment. Background technique [0002] Manipulator is a kind of robot, which is widely used in production and life, and can be used in general industry, extreme operations and other occasions. The wide application of manipulators lies in the huge functions of manipulators, that is, not only can perform extreme operations, but more importantly, reduce labor force. Robotic hands can also be used in medical care, welfare, and to coordinate operations with humans. Therefore, it is of great significance and value to the design and improvement of the manipulator. [0003] The existing research on manipulators includes multidisciplinary and multi-field problems of bionics, automation, materials science, human factors engineering and robotics engineering. The design of the manipulator is based on the principle of mechanical d...

AI Technical Summary

Problems solved by technology

[0004] A mechanical arm disclosed in application number 201110426169.5 is driven by an ordinary motor, and the mechanical grip has only two fingers, with low sensitivity and weak functionality

Most of the existing manipulators are two-finger manipulators with poor clamping stability and small clamping range

And mainly use cylindrical spur gears for transmission. Cylindrical spur gear transmission is not conducive to the design of multi-finger manipulators, and will limit the sensitivity of the mechanical fingers

Since the control of the existing manipulator adopts the preset form, synchronous control cannot be realized, and there are many restrictions on the scope of application of the manipulator.

Images