Detection method for mechanical property of whole working area of rotating shaft based on humanoid soft finger

Abstract

The invention discloses a detection method for the mechanical property of a whole working area of a rotating shaft based on a humanoid soft finger. The humanoid soft finger, a mechanical arm and an angle sensor are utilized to achieve the mechanical property detection of the whole working area of the rotating shaft. The humanoid soft finger is fixedly arranged at the tail end of the mechanical armand is driven by the mechanical arm to move; the humanoid soft finger drives the rotating shaft to move in the whole working area of the humanoid soft finger through a poking action process, a pushing action process and a reversing action process; the humanoid soft finger firstly tries to execute the poking action process repeatedly to obtain stable extrusion force, and then executes the poking action process, the pushing action process, the reversing action process and the pushing action process repeatedly in sequence, so that the rotating shaft performs periodic reciprocating motion in thewhole working area of the rotating shaft, and the mechanical property detection in the pushing action process is carried out in real time in the movement process. According to the detection method, the humanoid soft finger is used to complete the detection of the whole working area mechanical property of the rotating shaft, and the detection process can be completed adaptively.

Description

technical field [0001] The invention belongs to the technical field of detection of the mechanical properties of a rotating shaft, and more specifically relates to a method for detecting the mechanical properties of a rotating shaft in the full working area based on humanoid soft fingers. Background technique [0002] Precision mechanical shafts containing specific damping structures are widely used in robotic systems and consumer electronics products. The mechanical properties of their own structures have a direct impact on the overall motion performance of the device, so it is very important to test their mechanical properties. [0003] Patent ZL2014102224644 and patent ZL201910321260.1 jointly provide the basic method of using a mechanical arm to detect the mechanical properties of the rotating shaft structure. In this method, the movement form of the rigid clip flipping the rotating shaft structure is efficient and reliable, and is suitable for industrial practical applic...

AI Technical Summary

Problems solved by technology

[0004] The soft fingertip structure of the robot, which simulates the human finger, can achieve the similar operation ability as the human finger through the flexible contact with the object, but the nonlinear characteristics of the flexible contact also bring practical difficulties to its application

Images