Finger posture judging method of mechanical arm and mechanical arm

Abstract

The embodiment of the invention discloses a finger posture judging method of a mechanical arm. The finger posture judging method comprises the following steps that if driving torque reaches a load preset value, the big finger joint angle alpha and the small finger joint angle beta of the mechanical arm are acquired, the fingertip distance x of the mechanical arm is calculated according to the following formula: x=1-2l6 cos alpha-2l3 cos (beta+alpha-phi), if x is not equal to 0, it is confirmed that the mechanical arm grabs an object, l represents a line of three hinged points of two big finger joints and a palm of the mechanical arm, l3 represents a line of a hinged point between the small finger joints and the big finger joints and the fingertip of the fingers, and l6 represents a line between the big finger joints and the hinged points of the palm and the small finger joint of the fingers. The finger posture judging method can assist an existing driving torque load in judging the finger postures, the occurrence of posture misjudgment is avoided, accurate position control over the mechanical arm is executed, and the grabbing precision and reliability are improved. On the basis, the invention further provides the mechanical arm implementing the finger posture judging method.

Description

technical field [0001] The invention relates to the technical field of manipulators, in particular to a method for judging gestures of fingers of a manipulator and the manipulator. Background technique [0002] The manipulator is a fixture used in some specific occasions. [0003] The manipulator usually includes a palm, a driving mechanism and two fingers; the two fingers are hinged to the palm and rotate around the hinge point under the action of the driving mechanism to grasp the object, and each finger includes a big knuckle and a little finger that are hinged to each other The big knuckle is hinged with the palm, and the driving mechanism can drive the big knuckle to rotate around the hinge point with the palm and drive the little knuckle to rotate relative to the big knuckle around the hinge point with the big knuckle, so as to meet the needs of different people. Grasping of dimensional objects. [0004] Specifically, in the ready state, the big knuckle and the littl...

AI Technical Summary

Problems solved by technology

However, in the actual operation process, it is found that the manipulator cannot accurately judge whether the manipulator is grasping the object only by the load of the driving mechanism. The manipulator will also judge the success of the grasp, which will cause misjudgment.

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