Flexible three-finger clamp holder having touch sensing function

A tactile perception and tactile sensor technology, applied in chucks, manufacturing tools, manipulators, etc., can solve the problem that the robot end effector cannot meet the grasping requirements and the structure is simple at the same time, and achieve the effect of simple structure and reliable clamping

Inactive Publication Date: 2017-01-25
FOSHAN UNIVERSITY
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The purpose of the present invention is to provide a flexible three-finger gripper with tactile sensing function, aiming to

Method used

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  • Flexible three-finger clamp holder having touch sensing function
  • Flexible three-finger clamp holder having touch sensing function
  • Flexible three-finger clamp holder having touch sensing function

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[0029] In order to make the objectives, technical solutions and advantages of the present invention clearer and clearer, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments.

[0030] Such as Figure 1-2 As shown, a compliant three-finger gripper with tactile sensing function includes:

[0031] Motor support 100;

[0032] The motor 200 mounted on the motor support 100;

[0033] Flexible gripper 300 for holding objects;

[0034] The fixed rod 400 connecting the flexible gripper 300 and the motor spindle;

[0035] A tactile sensor 500 for real-time acquisition of the tactile force distribution of the contact portion between the flexible gripper 300 and the clamped object;

[0036] A control system for controlling the motor 200 to drive the flexible gripper to grip the object according to the contact force distribution of the flexible gripper 300 and the gripped object fed back by the touch sensor 500;

[0037] The flexibl...

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PUM

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Abstract

The invention discloses a flexible three-finger clamp holder having a touch sensing function. The touch force distribution situations of the parts, in contact with a clamped object, of the fingers are obtained in real time through touch sensors attached to flexible claws and are fed back to a control system, and the control system controls a motor to drive grabbing strength of the flexible claws. The flexible three-finger clamp holder adopting the structure has the touch sensing function, can exert different clamping forces according to the specific characteristics of the object and does not damage the object. Due to the fact that the flexible claws are made from an elastic flexible material, the three fingers can product a large elastic deformation during object clamping, accordingly stronger attachment is formed, it can be ensured that the object does not fall or slip and is reliable to clamp, the flexible three-finger clamp holder is simple in structure and can serve as a terminal executor to be widely applied to various robots.

Description

technical field [0001] The invention relates to the technical field of mechatronics of robot end effectors, in particular to a compliant three-finger gripper with tactile sensing function. Background technique [0002] At present, the application of robots in intelligent manufacturing, home services and other fields is becoming more and more common. The development of the tactile perception function of the robot end effector is an important way to improve the intelligence of the robot. In more and more applications, robotic manipulators need to grip or grasp unknown objects. How to plan correct operation actions according to the characteristics of objects, such as softness and hardness, surface texture, spatial shape, etc., to ensure that the manipulated objects are not Dropping, not slipping, and not being damaged is a current technological trend. Robot end effectors generally use two structures to manipulate objects. One is the "dexterous hand" mechanism that realizes th...

Claims

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Application Information

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IPC IPC(8): B25J15/10B25J15/12B25J13/08
CPCB25J13/081B25J15/10B25J15/12
Inventor 袁庆丹郗志刚
Owner FOSHAN UNIVERSITY
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