Dual-motor drive cooperatively-controlled under-actuated manipulator

A dual-motor-driven, collaborative control technology, applied in the direction of program-controlled manipulators, manipulators, manufacturing tools, etc., can solve problems such as the impact of grasped complex objects, inability to adapt to shape, size inconsistency, etc., to achieve a large envelope grasping range, Accurate and reliable grasping, achieving the effect of path planning

Active Publication Date: 2016-08-10
JIANGNAN UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

It can neither adapt to the inconsistent shape and size of the grasped complex object, nor can it meet the special requirements of the contact force without damage and reliably grasp the complex object, and at t...

Method used

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  • Dual-motor drive cooperatively-controlled under-actuated manipulator
  • Dual-motor drive cooperatively-controlled under-actuated manipulator
  • Dual-motor drive cooperatively-controlled under-actuated manipulator

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Embodiment Construction

[0038] Below is working principle and working process of the present invention:

[0039] The working principle and action process of the present invention: After optimizing the calculation for the specific object to be grasped, the grasping posture corresponding to the required grasping force can be calculated, and the grasping posture is controlled by two stepping motors. Specifically: ① When grasping complex objects of the same type (such as apples) with inconsistent shapes and sizes, it is possible to achieve freedom adaptability, non-destructive and reliable grasping of such objects by selecting appropriate elastic elements and structural dimensions. Kinds of complex objects. ② When grabbing complex objects of the same shape (such as apples, oranges, tangerines, etc. spherical, large and small square boxes, etc.) and complex objects of the same shape with large changes in shape and size, it is possible to realize both freedom and flexibility by selecting appropriate elasti...

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Abstract

The invention relates to a dual-motor drive cooperatively-controlled under-actuated manipulator. The dual-motor drive cooperatively-controlled under-actuated manipulator is composed of a driving component and two under-actuated finger components. Each finger component is composed of a finger root joint, a middle finger joint and a fingertip joint. Two stepper motors convert rotational motion into linear motion through a leading screw and nut mechanism and push the finger root joints and the middle finger joints of the two finger components. The fingertip joints overcome the torsion spring action by adopting the under-actuated principle. The dual-motor drive cooperatively-controlled under-actuated manipulator is optimally designed according to the characteristics of to-be-grabbed objects which are inconsistent in shape and size or loose, soft, hard and brittle in material and is applied to the occasions where the shape and size change needs to be met, the grabbing force needs to be strictly controlled, and reliable grabbing of the objects needs to be ensured; and the under-actuated manipulator belongs to the technical field of robot and mechanical and electrical integration application and is connected with a robot body and especially suitable for grabbing, sorting and the like of food, agricultural products and light industrial products in the production and logistics fields.

Description

Technical field: [0001] The invention relates to an underactuated manipulator driven by double motors for coordinated control, which is composed of a driving part and two underactuated finger parts, and the finger part is composed of a root joint, a middle knuckle and a fingertip joint. The two stepper motors convert the rotary motion into linear motion through the screw nut mechanism respectively, and respectively push the phalanx and middle phalanx of the two finger parts. Optimizing the design for objects with inconsistent shapes and sizes, or the characteristics of soft, hard and brittle objects to be grasped, the underactuated manipulator of the present invention needs to adapt to changes in shape and size, and strictly control the grasping force to ensure reliable grasping of objects occasions. The underactuated manipulator of the present invention belongs to the application technical field of robots and mechatronics, is connected with a robot body, and is especially su...

Claims

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Application Information

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IPC IPC(8): B25J9/12B25J15/02
CPCB25J9/123B25J15/022
Inventor 章军田志伟章佳平李秋苹吕兵
Owner JIANGNAN UNIV
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