A flexible bionic manipulator with adjustable initial grasping angle
An adjustable, manipulator technology, applied in the field of robotics, can solve problems such as the inability to meet the flexibility and adaptability requirements of manipulators for grasping operations, and achieve the effects of reducing time consumption, speeding up initial contact, and improving work efficiency.
Active Publication Date: 2021-04-06
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] Such as Figure 1 to Figure 6 As...
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The invention discloses a flexible bionic manipulator whose initial grasping angle can be adjusted, and belongs to the technical field of robots. The initial grasping angle of the bionic manipulator can be adjusted. On the one hand, the initial grasping angle of the bionic manipulator determines the range of its working space. The larger the initial grasping angle, the larger the size range of the target object that the bionic manipulator can grasp; On the other hand, it can speed up the initial contact between the bionic manipulator and the grasped object, reduce the time-consuming grasping operation, and improve work efficiency. The grasping mode of the bionic manipulator can be adjusted, and different grasping modes can be selected according to the shape of the grasped object. Due to the existence of the flexible deformation element of the leaf spring, the bionic manipulator can use the adaptive deformation of the leaf spring to cater to the shape of the object when it touches the grasped object, showing good compliance and self-adaptation to the grasped object sex.
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