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Global Stiffness and Contact Force Calculation Method of Soft Fingertip Structure of Hemispherical Robot

A robot and hemispherical technology, applied in the field of mechanical models, can solve the problems of difficult to achieve precise manipulation of soft fingers, lack of soft finger models and force control methods, etc.

Active Publication Date: 2021-02-26
SHANGHAI UNIV
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Problems solved by technology

Precise manipulation of soft fingers is extremely difficult due to the lack of suitable models and force control methods for soft fingers

Method used

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  • Global Stiffness and Contact Force Calculation Method of Soft Fingertip Structure of Hemispherical Robot
  • Global Stiffness and Contact Force Calculation Method of Soft Fingertip Structure of Hemispherical Robot
  • Global Stiffness and Contact Force Calculation Method of Soft Fingertip Structure of Hemispherical Robot

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Embodiment Construction

[0059] The principles and features of the present invention are described below in conjunction with the accompanying drawings, and the examples given are only used to explain the present invention, and are not intended to limit the scope of the present invention.

[0060] Such as figure 1 As shown, the robot soft fingertip structure refers to the addition of soft materials to the high-hardness end knuckles of conventional robot fingers, so that the knuckle structure has soft properties similar to the fingertips and pulps of human fingers. The hemispherical robot soft fingertip structure is composed of an elastic hemisphere 1 and a hard bottom plate 2 . The elastic hemisphere 1 is a whole piece of soft material in the shape of a regular hemisphere. The general preparation method of this material is to mix the raw materials evenly according to the specified ratio, send them to a vacuum device to remove air bubbles, and then pour them into a mold. Curing and molding at an approp...

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Abstract

The invention relates to a method for calculating the overall stiffness and contact force of a soft fingertip structure of a hemispherical robot. The soft fingertip structure of the robot in the shape of a hemisphere is composed of an elastic hemisphere and a hard bottom plate; the elastic hemisphere is a whole piece of soft material in the shape of a regular hemisphere, which has good compressibility and recoverability; the hard bottom plate is a rigid thin plate structure, providing support for the monolithic soft material of the elastic hemisphere. The elastic hemisphere deforms when in contact with the hard object, and fits closely along the surface of the hard object to form a contact surface; further, based on the overall stiffness assumption, and considering the rotation effect and sliding effect, the vertical stiffness, horizontal Calculation models for stiffness, vertical contact force, and horizontal contact force. By obtaining the inclination angle of the load surface in real time, the vertical contact force can be calculated in real time, and the horizontal contact force can be calculated in real time by obtaining the inclination angle of the load surface and the horizontal inspection angle in real time; the detection of the vertical contact force and the horizontal contact force does not need the help of real Therefore, it provides a basic model for the cooperative control of force and pose of a hemispherical robot soft fingertip structure.

Description

technical field [0001] The invention relates to a mechanical model of the elastic end structure of a robot finger. More specifically, the present invention relates to a method for calculating the overall stiffness and contact force of a hemispherical robot soft fingertip structure. Background technique [0002] At present, rigid clamping devices are widely used in mechanical manufacturing processes and equipment to grasp and manipulate workpieces. Although the pose trajectory of rigid clamping tools can be easily planned and controlled, it is difficult for the rigid end to stably grasp workpieces with complex surface shapes. , and is not suitable for clamping workpieces with high surface precision. Different from rigid materials, soft materials can adaptively fit the surface of the workpiece. Therefore, the soft finger designed based on soft materials can achieve stable grasping relatively easily in terms of structure. [0003] However, the nonlinear characteristics of the...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06F30/20G06F119/14
Inventor 贾文川林阁淇孙翊蒲华燕马书根袁建军柳杨鲍晟
Owner SHANGHAI UNIV
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