Flexible drive manipulator

A technology of manipulators and mechanical fingers, which is applied in the field of machinery, can solve problems such as the inability to realize fragile and soft objects, and achieve the effect of solving the problem of precise force control, realizing flexible driving, and realizing force control

Inactive Publication Date: 2017-09-05
SICHUAN UNIVERSITY OF SCIENCE AND ENGINEERING
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  • Abstract
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  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0002] Existing robot joints mostly use rigid drive mode, which cannot realize the gripping of fragile and soft objects. In industrial applications, cutting robots need precise force control while controlling the precise pose to meet the grinding needs of different parts. Therefore, it is urgent to design a variable stiffness robot joint to meet the dual needs of robot force and pose accuracy

Method used

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Embodiment Construction

[0018] The present invention will be further described below in combination with specific embodiments and accompanying drawings.

[0019] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

[0020] Such as Figure 1-6 It is an embodiment of a flexible driving manipulator of the present invention. A flexible driving manipulator includes: a mechanical hand 6 and a mechanical finger, and the mechanical fingers are arranged symmetrically on both sides of the mechanical hand 6. Connecting hole 102, the mechanical finger includes: the first phalanx 1, the second phalanx 2 and the third phalanx 3, the first phalanx 1 and the second phalanx 2 are hinged and passed...

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Abstract

The invention discloses a flexible drive manipulator which comprises a mechanical palm and mechanical fingers. The mechanical fingers are symmetrically arranged on the two sides of the mechanical palm which is provided with a connecting hole connected with a mechanical arm. Each mechanical finger comprises a first knuckle, a second knuckle and a third knuckle, wherein the first knuckle and the second knuckle are hinged and conduct transmission through a flexible transmission structure; and the second knuckles and the third knuckles are hinged and conduct transmission through a flexible transmission structure. The mechanical palm is provided with a pwm pulse generator which is electrically connected with the flexible transmission structures and controls shape changes of the flexible transmission structures to achieve opening and closing of the mechanical fingers. Precise force control can be achieved while pose control precision is ensured, clamping operation of different articles can be completed, perfect flexible drive is achieved, and the precise force control problem of a traditional rigid joint is solved.

Description

technical field [0001] The invention relates to the mechanical field, in particular to a flexible driving manipulator. Background technique [0002] Existing robot joints mostly use rigid drive mode, which cannot realize the gripping of fragile and soft objects. In industrial applications, cutting robots need precise force control while controlling the precise pose to meet the grinding needs of different parts. Therefore, it is urgent to design a variable stiffness robot joint to meet the dual needs of robot force and pose accuracy. Contents of the invention [0003] The purpose of the present invention is to overcome the above-mentioned problems existing in the prior art, and propose a flexible driving manipulator, which can realize precise force control while ensuring the accuracy of pose control, and can complete the gripping operation of different items. Realize perfect flexible drive and solve the problem of precise force control of traditional stiffness joints. [...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J15/08B25J9/12
Inventor 周军超廖映华汤爱华胥云林椿松谢伟王洁
Owner SICHUAN UNIVERSITY OF SCIENCE AND ENGINEERING
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