Tactile and slip sensor, flexible finger grabbing system and grabbing method thereof

Abstract

The invention provides a tactile and split sensor, a flexible finger grabbing system and a grabbing method thereof. Through a magnetorheological elastomer induction surface and an induction surface voltage acquisition circuit in a tactile and slip sensing unit, pressure applied on the magnetorheological elastomer induction surface by an object can be converted into a voltage signal, a relationshipbetween the voltage signal and pressure information is established, and the acquired voltage signal can be converted to obtain grabbing force information of the object; through a rotatable transmission integrated rotation shaft, a stop dog and an induction block bridge circuit, slip information of the object can be converted into a voltage signal, a relationship between the voltage signal and theslip information is established, the acquired voltage signal can be converted to obtain the slip information of the object, and by combining a time, slip speed information can be obtained; a tactileand slip decoupling calculation principle is simple and the calculated amount is relatively small; and memory storage is carried out by combining a texture perception neural network model, so that corresponding pressure can be directly applied when objects of the same type come out, thereby ensuring the timeliness, rapidity and stability of the grabbing.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a touch-slip sensor, a flexible finger grasping system and a grasping method thereof. Background technique [0002] With the rapid development of robotics, there is an increasing demand for robots that can perform tasks in complex environments. Due to the complexity and particularity of the grasping operation, the success rate of robot grasping is low and the damage rate is high. Flexible grasping and clamping have become the key technologies of related robot research. [0003] In the prior art, touch-slip sensors are often used for flexible grasping, but the existing touch-slip sensors have at least the following disadvantages: piezoresistive film structure, generally micro-structure, complex structure, difficult manufacturing, and high cost; Judging the sliding direction and the shear force of the object acting on the device; it is difficult to decouple the tactile and sliding ...

AI Technical Summary

Problems solved by technology

[0003] In the prior art, touch-slip sensors are often used for flexible grasping, but the existing touch-slip sensors have at least the following disadvantages: piezoresistive film structure, generally micro-structure, complex structure, difficult manufacturing, and high cost; Judging the sliding direction and the shear force of the object acting on the device; it is difficult to decouple the tactile and sliding information; the sensing principle is complicated, it is not easy to calculate, and there is a certain delay in information feedback

In addition, the grasping device and the touch-slip sensor of the robot system are independently manufactured, and then integrated and fused, resulting in poor suitability and adaptability

Images