Four-finger centripetal motion parallel mechanism palm manipulator capable of hooking and pinching

Abstract

The invention relates to a four-finger centripetal motion parallel mechanism palm manipulator capable of hooking and pinching, and belongs to the technical field of robots and automation. A crank rotating motor of a dual-drive five-rod sliding block parallel mechanism cooperates with a lead screw motor for moving hinge bases of rockers; lead screws rotate forwards and backwards to enable the two hinge bases of the four rockers to move linearly in the opposite direction or the north direction, the rotation of four cranks of the parallel mechanism is combined to enable four fingers to move towards the center of the manipulator, and the four finger components are installed on the connecting rods or the rockers to pinch grabbed objects; and for horizontally-placed curved-surface-shaped grabbedobjects such as cylinders, spheres and ellipsoids, after the side faces of the fingers are close or a small contact force makes contact with the grabbed objects and before the manipulator moves, fingertip parts are driven by flexible shafts to rotate and hook the side bottoms of the grabbed objects, so that a clamping force for pinching is greatly reduced, and reliable grabbing is achieved.

Description

Technical field[0001]The invention relates to the technical field of robots and automation applications, in particular to a palm manipulator of a four-pointing center motion parallel mechanism that can be hooked and pinched.Background technique[0002]Grabbing manipulators, also known as end effectors and end grippers, are operating tools for robots to grasp objects. Due to the complexity of grasping objects, except for some human-like dexterous manipulators with high cost and complex equipment, the other end effectors cannot universally and reliably grasp objects of different types. As far as the contact state is concerned, in order to adapt to the different shapes of grasped objects such as cuboid, cylinder, sphere, etc., the root of the finger needs to be transposed so that the finger contact surface can better adapt to the grasped objects of different shapes. This transposition action It is the basic function of the palm.[0003]For grab objects such as agricultural products, food, ...

AI Technical Summary

Problems solved by technology

[0005] After algorithm testing, prototyping, grasping test and performance analysis, it is concluded that the defects of the manipulator are: ① A single fixed finger is used to locate and grasp objects, the references of the manipulator and the manipulator arm do not coincide, the origin of the manipulator coordinates and the size of objects The offset of the center of mass of the body is large, and the eccentric force distance of the manipulator is relatively large; ②A single finger is used to position and grasp the object. Due to the positioning accuracy of the robotic arm, the grasped object moves a little during the grasping process; ③Two moving fingers instead of three Fingers move towards the grasped object at the same time, and the efficiency of the clamping process is low; ④The double-drive five-bar slider parallel mechanism drives the displacement of the two fingers, because the angle of displacement at the position determined by the x and y coordinates is determined, and is used Fingers with a flat cross-section are used to grasp the curved surface of the object, or fingers with a curved cross-section are used to contact the plane of the grasped object, and the versatility of vertically grasping cylinders and cuboids is not good enough

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