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Rigidity and flexibility coupling mechanical finger with force level sensing and sensing method thereof

A mechanical finger, rigid-flexible coupling technology, applied in the direction of manipulators, manufacturing tools, chucks, etc., can solve the problems of flexible manipulator sensing and modeling difficulties, and achieve the effect of light weight, simple manufacture and good protection

Active Publication Date: 2018-02-16
HUAZHONG UNIV OF SCI & TECH
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Problems solved by technology

[0005] In view of the above defects or improvement needs of the prior art, the present invention provides a rigid-flexible coupled mechanical finger with force-position sensing and its sensing method. Through the setting of the mechanical finger structure and the design of its force-position sensing method, This solves the technical problems of flexible manipulator sensing and modeling difficulties

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  • Rigidity and flexibility coupling mechanical finger with force level sensing and sensing method thereof
  • Rigidity and flexibility coupling mechanical finger with force level sensing and sensing method thereof
  • Rigidity and flexibility coupling mechanical finger with force level sensing and sensing method thereof

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Embodiment Construction

[0045] 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. In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not constitute a conflict with each other.

[0046]figure 1 is a side view structural schematic diagram of a mechanical finger constructed according to a preferred embodiment of the present invention, figure 2 It is a schematic structural diagram of a three-dimensional view of a mechanical finger constructed according to a preferred embodiment of the present invention, such as figure 1 and 2 As shown, the flexible mechanical finger is c...

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Abstract

The invention belongs to the field of robot intelligent sensing, and discloses a rigidity and flexibility coupling mechanical finger with force level sensing and a sensing method thereof. The mechanical finger comprises finger bones, a flexible joint and a pull rope; the finger bones are serially connected by the pull rope; the flexible joint is positioned between the finger bones; and a strain chip is arranged in the flexible joint. The invention further discloses a method for sensing the force level of the mechanical finger; and the method comprises the following steps: (a) initial conditions are set; (b) the stress distribution of a spring piece is calculated through a kinetic equation of the spring piece; (c) the deformation shape of the finger is obtained by using the stress distribution; and (d) the positive contact force of a finger point of the mechanical finger is obtained by using a torque balance equation. The mechanical finger is simple in manufacturing, high in function integration degree, high in reliability and low in cost, and realizes the functions of shape sensing, touch sensing and force sensing.

Description

technical field [0001] The invention belongs to the field of intelligent sensing of robots, and more specifically relates to a rigid-flexible coupled mechanical finger with force-position sensing and a sensing method thereof. Background technique [0002] With the continuous improvement of the degree of automation and the quality of life, more and more manipulators are used in industrial and military production activities and human life services. The demand for manipulators continues to increase, but traditional rigid manipulators have disadvantages such as complex structure, difficult control, and poor self-adaptation, and can only be applied to specific working conditions and environments. Therefore, in contrast, flexible mechanisms have been widely used in the fields of precision manufacturing, bionic robots and medical rehabilitation, and the research and application of flexible manipulators are continuing to heat up. The flexible manipulator has the characteristics of ...

Claims

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Application Information

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IPC IPC(8): B25J15/00B25J13/08B25J17/02
CPCB25J13/085B25J15/0009B25J17/02
Inventor 郭家杰冯勋锂何小攀熊蔡华
Owner HUAZHONG UNIV OF SCI & TECH
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