Initial grip angle adjustable type flexible bionic manipulator
An adjustable, manipulator technology, applied in the field of robotics, can solve the problem that the manipulator cannot meet the requirements of flexibility and adaptability of grasping operation, and achieve the effect of reducing time consumption, improving work efficiency, and speeding up initial contact.
Active Publication Date: 2019-07-16
INST OF APPLIED MATHEMATICS HEBEI ACADEMY OF SCI
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Problems solved by technology
With the diversification and complexity of grasping objects, the traditional rigid structure cannot meet the compliance and adaptability requirements of the manipulator for the grasping operation, so the research on flexible joints and flexible manipulators has become a new idea
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[0032] The technical solutions in the embodiments of the present invention are clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without making creative efforts belong to the protection scope of the present invention.
[0033] In the following description, a lot of specific details are set forth in order to fully understand the present invention, but the present invention can also be implemented in other ways different from those described here, and those skilled in the art can do it without departing from the meaning of the present invention. By analogy, the present invention is therefore not limited to the specific examples disclosed below.
[0034] like Figure 1 to Figure 6 As sh...
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The invention discloses an initial grip angle adjustable type flexible bionic manipulator and belongs to the technical field of robots. The initial grip angle of the bionic manipulator is adjustable.On one aspect, the initial grip angle of the bionic manipulator decides the working space range of the bionic manipulator, and the larger the initial grip angle, the larger the size range of target objects capable of being gripped by the bionic manipulator. On the other aspect, the initial contact of the bionic manipulator and the gripped objects can be accelerated, time spent on grip operation isreduced, and the working efficiency is increased. The grip mode of the bionic manipulator is adjustable, and different grip modes can be selected according to the shapes of the gripped objects. Due to the existence of a plate spring flexible deformation element, when the bionic manipulator is in contact with the gripped object, the shape of the object can be adapted by utilizing the adaptive deformation of the plate spring, and the gripped object shows excellent flexibility and self-adaptability.
Description
technical field [0001] The invention relates to the technical field of robots, in particular to a flexible bionic manipulator with an adjustable initial grasping angle. Background technique [0002] The large-scale application of robots frees humans from boring physical labor. As an important part of robots, the manipulator can directly sense the external environment and act on the target grasping objects, which is very important for improving the robot's operation level and intelligence level. important role. With the continuous development of artificial intelligence technology, the operating objects of robots have become more complex and diverse. In order to meet the needs of complex grasping, there is an urgent need for manipulators with better adaptability and flexibility. [0003] Special-purpose and general-purpose industrial manipulators are used in specific occasions. In order to improve the gripping efficiency of the manipulator, the corresponding structure is gene...
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IPC IPC(8): B25J15/00B25J15/10
CPCB25J15/0028B25J15/10
Inventor 张英坤程煜郝存明任亚恒吴立龙姚利彬赵航
Owner INST OF APPLIED MATHEMATICS HEBEI ACADEMY OF SCI