A four-point-to-central motion parallel mechanism palm manipulator capable of hooking and pinching

Abstract

The invention relates to a palm manipulator of a four-point center movement parallel mechanism capable of hooking and pinching, belonging to the technical field of robotics and automation, and a lead screw for moving a crank motor of a double-drive five-bar slider parallel mechanism and a hinge seat of a rocker The motor cooperates, and the forward and reverse rotation of the lead screw makes the two hinge seats of the four rockers move in a straight line toward each other or in the north direction, which is combined with the rotation of the four cranks of the parallel mechanism to make the four fingers move to the center of the manipulator. The four finger parts are installed On the connecting rod or rocker, pinch the grasped object; and for the grasped objects with curved surfaces such as cylinders, spheres, and ellipsoids placed horizontally, the manipulator moves after the side of the finger approaches or touches the grasped object with a small contact force At the front, the flexible shaft drives the fingertip part to rotate, and hooks at the side bottom of the object to be grasped, thereby greatly reducing the clamping force of the pinch and grasping reliably.

Description

technical field [0001] The invention relates to the technical field of robot and automation application, in particular to a four-direction heart-moving parallel mechanism palm manipulator capable of hooking and pinching. Background technique [0002] Grasping manipulators, also known as end effectors and end grippers, are operating tools for robots to grab objects. Due to the complexity of grasping objects, except for some humanoid dexterous manipulators with high cost and complex devices, the rest of the end effectors cannot universally and reliably grasp different types of objects. As far as the contact state is concerned, in order to adapt to the different shapes of grasped objects such as cuboids, cylinders, and spheres, the root of the finger needs to be transposed so that the finger contact surface can better adapt to grasped objects of different shapes. It is the basic function of the palm. [0003] For the grasping objects such as agricultural products and food, du...

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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