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Method and structure for judging the grasping state of flexible manipulator by measuring distance and obtaining angular displacement

A technology of angular displacement and manipulators, applied in the direction of manipulators, program-controlled manipulators, joints, etc., can solve problems such as inability to adjust, state judgment, complex attitude analysis, and effective working space limitations

Active Publication Date: 2021-08-03
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 judging the grasping state of flexible manipulator by measuring distance and obtaining angular displacement
  • Method and structure for judging the grasping state of flexible manipulator by measuring distance and obtaining angular displacement
  • Method and structure for judging the grasping state of flexible manipulator by measuring distance and obtaining angular displacement

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Experimental program
Comparison scheme
Effect test

Embodiment 1

[0088] Such as 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 phalanx 41, a middle phalanx 42, and a fingertip 43. One end of the phalanx 41 is connected to the top plate 10 through a phalanx hinge O, and the other end is connected to the middle phalanx hinge A with a pre-tightened 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 joint 43 through the fingertip joint hinge B; the root joint hinge-O and the fingertip joint hinge B are driven (such as using a flexible shaft drive) The active joint and the middle knuckle hinge A with pre-tightening torsion spring are passive joints without drive....

Embodiment 2

[0093] Such as 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 phalanx 41, a middle phalanx 42, and a fingertip 43. One end of the phalanx 41 is connected to the top plate 10 through a phalanx hinge O, and the other end is connected to the middle phalanx hinge A with a pre-tightened 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 joint 43 through the fingertip joint hinge B; the root joint hinge-O and the fingertip joint hinge B are driven (such as using a flexible shaft drive) The active joint and the middle knuckle hinge A with pre-tightening torsion spring are passive joints w...

Embodiment 3

[0101] Such as 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 phalanx 41, a middle phalanx 42, and a fingertip 43. One end of the phalanx 41 is connected to the top plate 10 through a phalanx hinge O, and the other end is connected to the middle phalanx hinge A with a pre-tightened 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 joint 43 through the fingertip joint hinge B; the root joint hinge-O and the fingertip joint hinge B are driven (such as using a flexible shaft drive) The active joint and the middle knuckle hinge A with pre-tightening torsion spring are passive ...

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Abstract

The invention relates to a method and structure for judging the grasping state of a flexible manipulator by measuring distance and obtaining angular displacement, which belongs to the field of robotics and automation technology and can be used in industries such as agricultural product picking, food sorting and transportation, industrial product loading and unloading, and commodity logistics packaging. . The grasping state of the flexible manipulator depends on the four control parameters of the manipulator height h, the angular displacement of the knuckle of the active joint α, the angular displacement of the fingertip of the active joint θ, and the angular displacement of the middle phalanx β. The angular displacement of the knuckle of the active joint α, the fingertip angular displacement θ of the active joint is obtained indirectly through the motor encoder, the height h of the manipulator is obtained from the parameters of the mechanical arm, and after measuring the angular displacement β of the middle knuckle with the help of a depth camera or a non-contact ranging sensor, through the flexible The geometric equations, static equations and deformation coordination equations of the manipulator can determine the grasping state of the flexible manipulator, thereby controlling the grasping process and final grasping pose, and satisfying the reliable grasping function of soft, hard, ductile and brittle objects.

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 Patents(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