A kind of mechanical finger and mechanical finger driving method based on magnetorheology

Abstract

The present invention relates to the technical field of mechanical fingers, in particular to a magneto-rheological-based mechanical finger and a method for driving the mechanical finger. The mechanical finger includes a finger body, a drive unit and a control unit; the clamping portion of the finger body has a The contact end facing the target and used to contact the target; the position of the contact end is fixed with a magnetorheological elastic part covering the end surface of the contact end; the magnetorheological elastic part faces the contact end There is a gap fit between one side and the end surface of the contact end, and a pressure sensing component is correspondingly provided in the gap between the magneto-rheological elastic part and the contact end; the clamping part corresponds to the magnetic The location of the rheological elastic part is also provided with an electromagnetic coil assembly. The invention also discloses a mechanical finger driving method. The magneto-rheological-based mechanical finger and its driving method in the present invention can take into account both the clamping stability and the protection effect on the target object.

Description

technical field [0001] The invention relates to the technical field of mechanical fingers, in particular to a magnetorheological-based mechanical finger and a driving method for the mechanical finger. Background technique [0002] With the continuous improvement of people's living standards, more and more tasks are replaced by robots. The robotic arm is one of them. One of the tasks of using the robotic arm is to grab the target. The object contact is the end effector installed on the robotic arm, and the most common end effector is the robotic finger. In actual work, the targets grasped by the robotic fingers are not only static, but also include many dynamic targets, even targets with particularly high speeds. In actual work, the existing mechanical fingers are not flexible and have no active stiffness adaptability, so that when facing static or dynamic targets, the mechanical fingers are easy to pinch the surface of the operating object, or the clamping is unstable. [...

AI Technical Summary

Problems solved by technology

Specifically, the mechanical finger in the existing solution uses the spring piece as the contact end directly in contact with the target, and the magnetorheological fluid is used as the power to drive the deformation of the spring piece, so that in the actual use process, the existing mechanical finger has the following Problem: 1) The spring sheet is easy to deform, and there is no stable clamping shape and state, making it difficult to firmly clamp the target with a certain weight, resulting in the problem of poor clamping stability of the mechanical finger; 2) In the existing scheme, the target is clamped by the piston rod pushing the spring leaf to deform, and the actual contact between the spring leaf and the target is a "bump" structure at the abutting position of the piston rod, that is, there is a "bump" between the spring leaf and the target object. Point contact” state (the contact area is very small), on the one hand, the “point contact” method is more likely to damage the target (the target is locally stressed), which leads to the problem of poor protection effect of the existing mechanical fingers. On the one hand, the "point contact" method makes the target object easy to shake during the transfer process, which also leads to the problem of poor clamping stability of the mechanical fingers

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