A compliant manipulator and its grasping operation method

A manipulator and compliant technology, applied in the field of robotics, can solve the problems of control system deviation, affecting the compliant control of fruit picking, increasing system complexity and control difficulty, and achieving the effect of simplifying system structure and compliant positioning

Active Publication Date: 2021-01-22
ANHUI POLYTECHNIC UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0006] This compliant grasping method requires the addition of powerful signals, which increases the complexity of the system and the difficulty of control, and the performance of the torque controller directly affects whether the compliant control of fruit picking can be realized, and there is a large deviation in the control system

Method used

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  • A compliant manipulator and its grasping operation method
  • A compliant manipulator and its grasping operation method
  • A compliant manipulator and its grasping operation method

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Embodiment Construction

[0059] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be described in further detail below in conjunction with specific embodiments and with reference to the accompanying drawings.

[0060] As one of the specific implementations of the present invention, as shown in the figure, a compliant manipulator includes a housing 70, a motion control module A1 is installed inside the housing 70, and the motion control module A1 is electrically connected to a drive unit 10, the drive unit 10 is power-connected with a transmission module 20, the transmission module 20 includes a bottom plate 210, a transmission shaft 300 is installed through the bottom plate 210, and one end of the transmission shaft 300 is power-connected with the drive unit 10 , the transmission shaft 300 is equipped with a torque adjustment bull gear 421 through the bearing C01, the torque adjustment bull gear 421 is meshed with a torque adjust...

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Abstract

The invention discloses a compliant manipulator and a grabbing operation method thereof. The compliant manipulator comprises a shell, wherein a motion control module is mounted in the shell, the motion control module is electrically connected with a driving unit, and the driving unit is in power connection with a transmission module; the transmission module comprises a bottom plate, wherein a transmission shaft is mounted on the bottom plate in a penetrating mode, one end of the transmission shaft is in power connection with the driving unit, a torque adjusting large gear is mounted on the transmission shaft through a bearing, the torque adjusting large gear is in meshing connection with a torque adjusting pinion, and the torque adjusting pinion is in power connection with the driving unit; and one end of the transmission shaft extends out of the shell and is in power connection with a gripper, and power is provided for the gripper to grab an object. According to the compliant manipulator, the clamping force can be controlled according to the relationship between clamping force and a micro-positioning angle of a torque adjusting motor on the premise of not changing a driving parameter of the motor, so that the compliant positioning of the grabbing operation is realized, and the system structure is greatly simplified without relying on an applied force signal.

Description

technical field [0001] The invention relates to the field of robots, in particular to a compliant manipulator and a grasping operation method thereof. Background technique [0002] Compliant control refers to obtaining the control signal from the force sensor, and using this signal to control the robot to make it move in response to this change. In modern production, the use of manipulators for grasping operations has broad application space in the fields of industry, agriculture, and medical treatment. Objects with fragile surfaces such as fruits are more sensitive to the grasping force of the manipulator. Insufficient grasping force may easily cause grasping Failure, if the grasping force is too large, it will easily cause damage to the surface, and objects with different properties or the same property but with different structural sizes have different requirements for the best grasping force. [0003] The existing technology mainly changes the output torque of the trans...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J15/02B25J15/08B25J9/16
CPCB25J9/1633B25J15/0213B25J15/08
Inventor 刘玉飞张席苏学满鞠锦勇
Owner ANHUI POLYTECHNIC UNIV
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