Serial-parallel operation manipulator device containing seven-bar flexible force-sensing finger mechanisms

Abstract

The invention discloses a serial-parallel operation manipulator device containing seven-bar flexible force-sensing fingers. The serial-parallel operation manipulator device comprises a parallel mechanism and seven-bar flexible force-sensing finger mechanisms. The parallel mechanism includes a machine seat, a moving table, a planar dual-drive branch mechanism and a linear electric cylinder, whereinthe planar dual-drive branch mechanism comprises an upper beam, a lower beam and two RPR type electric cylinders, the two RPR type electric cylinders are connected with the upper beam and the lower beam, and the upper beam and the lower beam are rotatably connected with the machine seat and the moving table separately; and the linear electric cylinder is connected with the machine seat and the moving table through a universal pair and a rotating pair correspondingly. The seven-bar flexible finger mechanisms include finger bar, electric cylinders, three-pair bars, force measuring bars, pull bars, springs and finger seats. The finger bars and the finger seats are rotatably connected to the two ends of the electric cylinders, the third-pair bars are rotatably connected with the finger bars,the force measuring bars and the pull bars, the pull bars are connected with sleeves of the finger seats through moving pairs, the two ends of the springs abuts against protruding circular truncated cones of the pull bars and sleeve hole bosses of the finger seats, and the finger seats are rotatably connected to the other ends of the force measuring bars; and the finger seats are fixedly connectedwith the moving table and distributed on the circumference of the moving table. The serial-parallel operation manipulator device containing the seven-bar flexible force-sensing finger is used for deep-sea exploration, rescue, processing and surgical operations.

Description

technical field

[0001] The invention relates to the field of robots, in particular to a mixed operation manipulator device with a seven-rod flexible force-sensing finger mechanism. Background technique

[0002] The hand of the robot refers to the device installed at the end of the robot arm and directly acts on the working object. All kinds of operations to be completed by the robot must be realized by the hands in the end. Finger design is an important link in robot hand design. With the development of robot technology, various forms of robot fingers have emerged. "Vigorously develop surgical robots" is included in the national "13th Five-Year Plan" major projects. Surgical robot is a new interdisciplinary research field integrating medicine, biology, mechanical mechanics, robotics and other disciplines, and has broad application prospects. In recent years, scholars have carried out extensive research on medical and surgical robots. At present, in terms of finger mechan...

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