Flexible manipulator based on sensing of bionic strain sensor array

Abstract

The invention relates to a flexible manipulator based on sensing of a bionic strain sensor array. A liquid crystal elastic body (1) has a hand-shaped structure, and an elastic insulating bottom plate(4) is positioned at the position of a palm, is embedded in the liquid crystal elastic body (1) and can deform when pressure is applied to the elastic insulating bottom plate (4); an array formed by bionic strain sensors (2) adheres to the elastic insulating bottom plate (4); the bionic strain sensors (2) are connected with power supply portions (5), the power supply portions (5) are Wheatstone electric brides, and the inside of each electric bridge is connected with the corresponding bionic strain sensor (2); each power supply portion (5) is connected with a control module (7) through an amplifying circuit module (6); flexible circuit polyimide films are separately embedded at positions of first interphalangeal joints, second interphalangeal joints and metacarpophalangeal joints of all fingers of the liquid crystal elastic body (1), and can bent along with bending of the liquid crystal elastic body (1); and each polyimide film heater (3) is connected with the corresponding control module (7). The flexible manipulator based on sensing of the bionic strain sensor array is suitable for objects which are small in mass, small in size and difficult to grab comparatively.

Description

technical field [0001] The invention belongs to the technical field of flexible robot control, and in particular relates to a bionic flexible manipulator. The grasping posture of the flexible manipulator is controlled by the pressure generated by objects of different masses on the bionic strain sensor. Background technique [0002] Manipulator, also known as mechanical transmission robot, is a kind of industrial robot. It consists of a driving motor and several mechanical transmission mechanisms, such as connecting rods, cams, gears, etc. It is widely used in industrial production, medical surgery, space operations, and hazardous area operations. and many other fields. The traditional manipulator is a rigid manipulator, which has the disadvantages of bulky structure, low efficiency, small operating space, slow response speed, etc., and has gradually been unable to meet the requirements of various operating performances. [0003] Because the manufacturing materials of the r...

AI Technical Summary

Problems solved by technology

However, the comprehensive development of flexible manipulators, especially in imitating mollusc tentacles with intelligent flexible materials, is still in its infancy worldwide.

In addition, so far, the existing flexible manipulators cannot completely perceive and adapt to the surrounding environment like animal tentacles, coupled with the existence of structural flexibility and its own nonlinear characteristics, making the soft manipulator a very complex nonlinear system. It has great practical application value for its control problems

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