A method for detecting mechanical properties of rotating shafts in the whole working area based on human-like soft fingers

Abstract

The invention discloses a method for detecting the mechanical properties of the full working area of ​​the rotating shaft based on the humanoid soft finger, which uses the humanoid soft finger, a mechanical arm and an angle sensor to realize the mechanical performance detection of the entire working area of ​​the rotating shaft; the humanoid soft finger is installed and fixed At the end of the mechanical arm, the movement is driven by the mechanical arm; the humanoid soft finger drives the shaft to move in its entire working area through the process of pushing, pushing, and reversing; the humanoid soft finger first repeatedly tries to perform the pulling action process, to obtain a stable extrusion force, and then repeatedly perform the process of pulling apart, pushing, reversing, and pushing in order to make the rotating shaft perform periodic reciprocating motion in its entire working area. The mechanical performance detection during the pushing action is performed in real time. The invention uses humanoid soft fingers to complete the detection of the mechanical properties of the rotating shaft in the whole working area, and can complete the detection process self-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

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