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A flexible manipulator based on bionic strain sensor array sensing

A strain sensor, manipulator technology, applied in manipulators, manufacturing tools, chucks, etc., can solve the problem of not being able to perceive and adapt to the surrounding environment, and achieve the effect of controllable finger bending, high grip and fit, and small size

Active Publication Date: 2021-03-30
JILIN UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

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

Method used

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  • A flexible manipulator based on bionic strain sensor array sensing
  • A flexible manipulator based on bionic strain sensor array sensing
  • A flexible manipulator based on bionic strain sensor array sensing

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Embodiment Construction

[0014] The invention is a flexible manipulator developed on the basis of the mechanism research on the liquid crystal elastic body and the bionic strain sensor. The liquid crystal elastomer is quoted from an article in Advanced Materials (Wang C, Sim K, Chen J, etal.Soft Ultrathin Electronics Innervated Adaptive Fully Soft Robots[J].Advanced Materials,2018,30(13):1706695.) The preparation method of the bionic strain sensor is an article in Nanoscale (Han Z, Liu L, Zhang J, et al. High-performance flexible strain sensor with bio-inspired crack arrays. [J]. Nanoscale, 2018.) the sensor.

[0015] see figure 1 , the manipulator of the present invention uses a new type of bionic strain sensor (3cm wide, 1cm long) to form a 1*5 array at the palm of the hand to sense the size and weight of external objects. It has the characteristics of ultra-sensitivity, stability, softness, and cheapness, and is suitable for imitating the tactile perception of human hand skin; the manipulator is ...

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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...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J15/00B25J13/08
CPCB25J13/081B25J13/087B25J15/0009
Inventor 侯涛游子跃刘富韩志武康冰张俊秋牛士超刘云王柯赵宇峰
Owner JILIN UNIV
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