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The end force perception method and device of the rope drive flexible robotic arm

A flexible robotic arm and robotic arm technology, applied in the field of robotic arms to achieve the effect of force control

Active Publication Date: 2022-08-05
HARBIN INST OF TECH SHENZHEN GRADUATE SCHOOL
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0003] The present invention provides a method and device for end force sensing of a rope-driven flexible manipulator, aiming at at least solving one of the technical problems in the prior art, such as making the rope-driven flexible manipulator still capable of Accurate perception of terminal force information can be achieved

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  • The end force perception method and device of the rope drive flexible robotic arm
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  • The end force perception method and device of the rope drive flexible robotic arm

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Embodiment Construction

[0063] The concept, specific structure and technical effects of the present invention will be clearly and completely described below in conjunction with the embodiments and the accompanying drawings, so as to fully understand the purpose, solutions and effects of the present invention.

[0064] It should be noted that, unless otherwise specified, when a feature is called "fixed" or "connected" to another feature, it can be directly fixed or connected to another feature, or it can be indirectly fixed or connected to another feature. on a feature. As used herein, the singular forms "a," "the," and "the" are intended to include the plural forms as well, unless the context clearly dictates otherwise. Also, unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art. The terms used in the specification herein are for the purpose of describing specific embodiments only, and not for the pur...

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Abstract

The invention relates to a terminal force sensing method and device for a rope-driven flexible mechanical arm. The method includes establishing the rod coordinate system of the manipulator; establishing the dynamic balance equation and moment balance equation of the end arm and the center block, and calculating the initial end force; establishing the dynamic balance equation and moment of the last two arm segments Balance equation, calculate the end force at this time; establish the dynamic balance equation and moment balance equation of the reciprocal multi-segment boom, and iteratively calculate the end force; judge whether the error of the end force of the two calculations before and after is lower than the threshold, or the next Whether the number of iterations is greater than the number of arms, if so, stop the iteration. The apparatus therein includes a memory and a processor that, when executing instructions stored in the memory, implements the method. Iteratively calculates the end force of the manipulator through the program, so that the rope-driven flexible manipulator can still realize the accurate perception of the end force information even when the end force sensor cannot be installed.

Description

technical field [0001] The invention belongs to the technical field of mechanical arms, and relates to a terminal force sensing method and device of a rope-driven flexible mechanical arm. Background technique [0002] At present, the rope-driven flexible manipulator has broad development prospects in environments such as military reconnaissance, pipeline work, auxiliary medical inspection, nuclear power equipment maintenance, etc. due to its more flexible and stronger bending ability. However, in some specific work scenarios However, the currently commonly used multi-dimensional force sensors, fiber Bragg grating sensors, electromagnetic sensors, etc. are difficult to install, or are easily interfered and difficult to work, which greatly limits the sensing ability and force-position hybrid control of the rope-driven flexible manipulator in complex environments. aspect applications. SUMMARY OF THE INVENTION [0003] The present invention provides a method and device for se...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/10B25J9/16
CPCB25J9/104B25J9/1045B25J9/1628B25J9/1633
Inventor 徐文福黄曦杨太玮袁晗梁斌
Owner HARBIN INST OF TECH SHENZHEN GRADUATE SCHOOL
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