A kind of flexible robot hand and its control method

A control method and technology of robotic arms, applied in manipulators, manufacturing tools, chucks, etc., can solve the problems of limited operability and adaptability of robotic arms, limited movement ability, and not very suitable for a wide range of tasks and environments.

Inactive Publication Date: 2017-12-19
EAST CHINA JIAOTONG UNIVERSITY
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  • Abstract
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Problems solved by technology

However, because its general rigid body actuator is composed of a rigid structure, this determines the limited operability and adaptability of this type of manipulator, and its movement ability is limited in environments such as uncertain or continuous non-conductive environments, such as freedom of movement. low density, and the inability to change shape and size makes it unsuitable for a wide range of tasks and environments

Method used

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  • A kind of flexible robot hand and its control method

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Embodiment Construction

[0030] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.

[0031] see figure 1 As shown, a flexible robotic hand of the present invention includes: a hand-shaped body, a drive assembly 3, and a control assembly 2. The fingers of the hand-shaped body include several execution bodies 1, and the execution bodies 1 include elastic cavities. , the elastic cavity is provided with a first fixing member that restricts the radial expansion of the elastic cavity and a second fixing member that restricts the axial expansion of one side of the elastic cavity, and the drive assembly 3 is connected with the elastic cavity and controlled The pressure in the elastic cavity, the control assembly 2 includes a controller for controlling the drive assembly 3, a bending sensor arranged axially along the elastic cavity, an inertial sensor arranged at intervals along the axial direction of the elastic cavity, and one end is ...

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Abstract

The invention discloses a flexible robot hand and its control method, aiming to provide a flexible robot hand and its control method with a simple structure, which can change the structure to adapt to various environments. When the pressure of the elastic cavity in the hand-shaped body changes, the driving component and the control component will bend or gradually straighten from the bending, and because the elastic cavity can be deformed, when the actuator body collides with the contact object, The executive body can deform itself to adapt to the contact object, and a driving component is set to control the pressure in the elastic cavity to realize the increase or decrease of the pressure in the elastic cavity, and the control component can accurately detect and control it.

Description

technical field [0001] The present invention relates to, more precisely relates to a kind of flexible robot hand and its control method. Background technique [0002] Traditional rigid body actuators are controlled by their rigid structure and torque (torque) and position (force) sensors, such as manipulators, etc. These rigid body actuators can be better used in industrial production, such as grasping assembly processes and spot welding craft etc. However, because its general rigid body actuator is composed of a rigid structure, this determines the limited operability and adaptability of this type of manipulator, and its movement ability is limited in environments such as uncertain or continuous non-conductive environments, such as freedom of movement. The low density and the inability to change shape and size make them unsuitable for a wide range of tasks and environments. Contents of the invention [0003] The technical problem to be solved by the present invention is...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J15/12B25J13/08
CPCB25J13/08B25J15/12
Inventor 陈鹏展张武卫张景龙茹岩张欣杨希
Owner EAST CHINA JIAOTONG UNIVERSITY
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