Bionic flexible grabbing manipulator based on multistage metamorphic mechanism

Abstract

The invention discloses a bionic flexible grabbing manipulator based on a multistage metamorphic mechanism. A grabbing mechanism comprises a transmission gear, a transmission rack, a tail-end gripper and a single finger, wherein the single finger comprises at least two layers of four-link mechanisms; each four-link mechanism comprises mutually-hinged links at a bottom, links at two sides and a link at a top; the link at the bottom of the four-link mechanism located on the lowermost layer is a base; the links at the two sides of the four-link mechanism on the lowermost layer are hinged to the base separately, and the link at one side is driven by the transmission gear; the link at the top of the four-link mechanism on the lowermost layer is the link at the bottom of the upper-layer four-link mechanism of the four-link mechanism on the lowermost layer; the link at the top of the four-link mechanism on the uppermost layer is the tail-end gripper; the transmission gear is engaged with the transmission rack; the transmission rack is driven by a drive mechanism; and the drive mechanism is fixed to the base. The bionic flexible grabbing manipulator disclosed by the invention is capable of realizing simulation for reliable grabbing of human hands in different pose environments with regard to any object.

Description

technical field [0001] The invention relates to a grasping manipulator, in particular to a bionic compliant grasping manipulator based on a multi-stage metamorphic mechanism. Background technique [0002] Manipulators are widely used in automatic equipment or for grasping, handling and placing specific objects. At present, general-purpose robotic grippers are divided into three types: non-joint, fixed single-joint and free multi-joint, and can be divided into two-finger, three-finger, four-finger or multi-finger according to the number of fingers. In terms of drive, it is divided into two types: single drive and multi-joint drive. Traditional manipulators cannot grasp, carry, pick and place objects with complex geometric shapes, or simulate the movements of human hands. It has the problems of complex drive control, high cost, and low reliability. [0003] Chinese invention patent application, CN103433932, a self-adaptive aerodynamic flexible grasping manipulator based on ...

AI Technical Summary

Problems solved by technology

Traditional manipulators cannot grasp, carry, pick and place objects with complex geometric shapes, or simulate the movement of human hands.

It has problems such as complex drive control, high cost, and low reliability

[0003] Chinese invention patent application, CN103433932, a self-adaptive aerodynamic flexible grasping manipulator based on metamorphic mechanism, based on metamorphic mechanism, the adaptive and compliant grasping of the manipulator is realized. When the minimum adaptation range of , it will not be able to crawl, so the product-oriented range is small

Due to the use of passive adaptive grasping, it is inevitable that the clamping force for large objects or relatively heavy objects will be small, and the reliability will decrease

Although the applicant proposed that multiple metamorphic rotary joints can be used to distribute left and right or axially around the cylinder, but due to the use of a one-stage metamorphic mechanism, its adaptability is relatively poor compared to multi-stage

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