Five-finger dexterous hand based on force and displacement fuzzy hybrid control and control method thereof
A technology of mixed control and control methods, applied in the field of robots, can solve the problems of high cost and complex structure, and achieve the effect of improving the protection level and stable performance
Pending Publication Date: 2020-05-05
ZHEJIANG UNIV OF TECH
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Problems solved by technology
[0004] In order to overcome the defects of complex structure and high cost in the existing five-fingered dexterous hand, the present invention provides a five-fingered dexterous hand based on fuzzy hybrid control of force and displacement and its control method, which realizes hybrid control of dexterous hand force and displacement. There are no exposed sensors on the outside, and all sensors are integrated inside the palm, which further improves the protection level and stability of dexterous hands
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[0019] The present invention will be further described below in conjunction with the drawings.
[0020] Reference Figure 1 ~ Figure 5 , A five-finger dexterous hand based on fuzzy hybrid control of force and displacement, including a palm body 23 and four single fingers and a thumb mounted on the palm body 23;
[0021] Each single finger includes the proximal phalanx 7, the middle phalanx 4, the distal phalanx 1, and the driving mechanism. The proximal phalanx 7 and the middle phalanx 4, and the middle phalanx 4 and the distal phalanx 1 are all hinged. The first tendon sheath and the second tendon sheath are respectively provided on both sides of the palm of the palm 4 and the proximal phalanx 7, and the driving mechanism includes a first tendon cord for driving the knuckle to bend, and a second tendon cord for reducing the knuckle. The tendon cord 25, the first motor 21 and the second motor 18, the first motor 21 and the second motor 18 are installed in the palm body 23, one end...
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The invention discloses a five-finger dexterous hand based on force and displacement fuzzy hybrid control. The five-finger dexterous hand based on force and displacement fuzzy hybrid control comprisesa palm main body, and four single fingers and a thumb mounted on the palm main body; each singer finger comprises a near knuckle, a middle knuckle, a far knuckle and a driving mechanism; each drivingmechanism comprises a first tendon rope used for driving knuckles to bend, a second tendon rope used for resetting the knuckles, a first motor and a second motor; the first motor and the second motorare mounted in the palm main body; the thumb does not comprise the middle knuckle; the other structures of the thumb are the same as those of each single finger; and tension sensors and encoders areboth connected to a controller. The invention provides the five-finger dexterous hand based on force and displacement fuzzy hybrid control and a control method thereof, which realize force and displacement hybrid control of the dexterous hand; the dexterous hand does not have any bare sensor externally; and all sensors are integrated in a palm, so that the protection grade and the stability performance of the dexterous hand are further improved.
Description
Technical field [0001] The invention relates to the technical field of robots, in particular to a five-finger dexterous hand based on fuzzy hybrid control of force and displacement and a control method thereof. Background technique [0002] With the development of industry, industrial robots have developed vigorously in recent decades, and industrial manipulators have been widely studied as a new type of end effector. Traditional robot end effectors have poor flexibility and can only grasp or manipulate specific objects, such as suction cups and welding torches. The shape of the bionic dexterous hand is close to that of a human hand, and its operation dexterity is high. It is incomparable with traditional mechanical grippers. It can be used to replace humans in dangerous working environments for more complicated operations, saving human resources and ensuring personal safety. However, due to its complex structure and high cost, there is no bionic dexterous hand that can be widel...
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IPC IPC(8): B25J15/00B25J9/10B25J9/12B25J9/16B25J19/00
CPCB25J15/0009B25J9/16B25J9/1075B25J9/1694B25J9/1697B25J19/00B25J9/12
Inventor 潘鲁锋杨邦出喻豪勇鲍官军
Owner ZHEJIANG UNIV OF TECH