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Method and structure for determining gripping state of flexible manipulator by acquiring angular displacement through distance measurement

An angular displacement and manipulator technology, which is applied to manipulators, program-controlled manipulators, chucks, etc., and can solve the problem of state judgment, complex attitude analysis, effective working space limitation, and no description of the technical characteristics of the two grasping methods of underactuated "flexible manipulators", etc. question

Active Publication Date: 2020-10-30
JIANGNAN UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] At present, underactuated manipulators mostly adopt link drive or tendon drive, which has a strong load capacity, but due to the interference of the link itself, its effective working space is limited; tendon drive mostly uses rope drive, which has a high degree of freedom and flexibility. Strong, but with a smaller payload
In addition, the underactuated link of the underactuated manipulator using the aforementioned transmission scheme has a correlation with the two active links, that is, the angle of the underactuated link will always be affected by the angle of the two active links, and it cannot only consider the influence of the shape of the target object, so its state judgment , Attitude analysis is more complicated, so it cannot be adjusted according to the actual state
[0004] In addition, the patent application for "a four-finger underactuated manipulator with rigid-flexible coupling with flexible shaft transmission" (application number: 202010021685.3) proposes an underactuated "flexible manipulator" scheme, all four-finger fingers of the application The rotation of the root joint (driven by the link mechanism) and the rotation of the fingertip joint are both active joints (driven by the flexible shaft), while the middle knuckle is a passive joint, which is a middle knuckle hinge with a pre-tightened torsion spring. At the same time, the application did not explain the technical characteristics of the underactuated "soft manipulator" that can be pinched and enveloped, and it did not mention that under the two grasping methods, the Detection and Judgment Method of Grasping Objects and Manipulator Grasping Poses and Contact Forces

Method used

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  • Method and structure for determining gripping state of flexible manipulator by acquiring angular displacement through distance measurement
  • Method and structure for determining gripping state of flexible manipulator by acquiring angular displacement through distance measurement
  • Method and structure for determining gripping state of flexible manipulator by acquiring angular displacement through distance measurement

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0088] like Figure 4 As shown, the flexible manipulator includes a top plate 10, and at least two groups of flexible fingers are connected to the lower surface of the top plate 10, and at least two groups of flexible fingers are evenly distributed along the circumferential direction;

[0089] The structure of each group of flexible fingers includes a root segment 41, a middle finger segment 42 and a fingertip segment 43. One end of the finger segment 41 is connected to the top plate 10 through a finger root segment hinge-O, and the other end is connected to the top plate 10 through a middle finger hinge A with a pre-tensioned torsion spring. It is connected with one end of the middle phalanx 42, and the other end of the middle phalanx 42 is connected with the fingertip 43 through the fingertip hinge B; The active joint and the middle finger joint hinge A with pre-tightening torsion spring are passive joints without drive. The middle finger joint hinge A with pre-tightening to...

Embodiment 2

[0093] like figure 2 , Figure 5 As shown, the flexible manipulator includes a top plate 10, and at least two groups of flexible fingers are connected to the lower surface of the top plate 10, and at least two groups of flexible fingers are evenly distributed along the circumferential direction;

[0094] The structure of each group of flexible fingers includes a root segment 41, a middle finger segment 42 and a fingertip segment 43. One end of the finger segment 41 is connected to the top plate 10 through a finger root segment hinge-O, and the other end is connected to the top plate 10 through a middle finger hinge A with a pre-tensioned torsion spring. It is connected with one end of the middle phalanx 42, and the other end of the middle phalanx 42 is connected with the fingertip 43 through the fingertip hinge B; The active joint and the middle finger joint hinge A with pre-tightening torsion spring are passive joints without drive. The middle finger joint hinge A with pre-...

Embodiment 3

[0101] like image 3 , Figure 6-Figure 8 As shown, the flexible manipulator includes a top plate 10, and at least two groups of flexible fingers are connected to the lower surface of the top plate 10, and at least two groups of flexible fingers are evenly distributed along the circumferential direction;

[0102] The structure of each group of flexible fingers includes a root segment 41, a middle finger segment 42 and a fingertip segment 43. One end of the finger segment 41 is connected to the top plate 10 through a finger root segment hinge-O, and the other end is connected to the top plate 10 through a middle finger hinge A with a pre-tensioned torsion spring. It is connected with one end of the middle phalanx 42, and the other end of the middle phalanx 42 is connected with the fingertip 43 through the fingertip hinge B; The active joint and the middle finger joint hinge A with pre-tightening torsion spring are passive joints without drive. The middle finger joint hinge A w...

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Abstract

The invention relates to a method and a structure for determining the gripping state of a flexible manipulator by acquiring angular displacement through distance measurement, and belongs to the technical field of robots and automation. The method and the structure can be used for the industries of agricultural product picking, food sorting and conveying, industrial product feeding and discharginggripping, commodity logistics packaging and the like. The gripping state of the flexible manipulator depends on four control parameters of the manipulator height h, the finger root joint angular displacement alpha of an active joint, the fingertip joint angular displacement theta of the active joint and the middle finger joint angular displacement beta; the finger root joint angular displacement alpha of the active joint and the fingertip joint angular displacement theta of the active joint are both indirectly obtained through a motor encoder; the manipulator height h is obtained from mechanical arm parameters; and after the middle finger joint angular displacement beta is measured by means of a depth camera or a non-contact distance measuring sensor, the gripping state of the flexible manipulator can be determined through a geometric equation, a statics equation and a deformation coordination equation of the flexible manipulator, so that the gripping process and the final gripping pose are controlled, and the reliable gripping function of soft, hard, tough and brittle objects is achieved.

Description

technical field [0001] The invention relates to the technical field of robotics and automation applications, in particular to a method and structure for judging the grasping state of a flexible manipulator by measuring distance and obtaining angular displacement, which can be used for picking agricultural products, sorting and transporting food, picking and unloading industrial products, and Logistics packaging and other industries. Background technique [0002] An underactuated manipulator refers to a multi-knuckle manipulator whose number of driving elements is less than the number of degrees of freedom. Because it can passively adapt to the grasped shape and has few driving elements, it has a wide grasping range, simple control, large output, and good load capacity. . [0003] At present, underactuated manipulators mostly adopt link drive or tendon drive, which has a strong load capacity, but due to the interference of the link itself, its effective working space is limi...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J15/00B25J9/16B25J17/00
CPCB25J9/1612B25J15/0009B25J17/00
Inventor 章军王强姚宇航王琨周浪吕兵
Owner JIANGNAN UNIV