Omnidirectional tactile manipulator

Abstract

The invention relates to the technical field of robots, and discloses an omnidirectional tactile manipulator. The manipulator comprises a palm and three fingers arranged on the palm, each finger comprises a finger root, a finger middle, a finger tip and a driving device, the finger roots are riveted with the palm through first rotating shafts, the finger middles are riveted with the finger roots through second rotating shafts, and the finger tips are riveted with the finger middles through third rotating shafts. Each driving device comprises a driving motor, a worm, a worm gear and a connecting rod assembly, the worms are installed on output shafts of the driving motors, the worm gears are arranged on the first rotating shafts in a sleeving manner and fixedly connected with the first rotating shafts, the connecting rod assemblies are connected with the worm gears, the finger roots, the finger middles and the finger tips, and tactile sensors are arranged on the surfaces of the finger roots, the finger middles and the finger tips. Compared with the prior art, the omni-directional tactile manipulator has the advantages that the tactile sensors are arranged on the surfaces of the finger roots, the finger middles and the finger tips, so that an upper computer can judge the type, the magnitude and the position of force applied to the tactile sensors according to received tactile information, and the sensing sensitivity of the manipulator is improved.

Description

Technical field [0001] The present invention relates to the technical field of robots, in particular to a full-directional haptic manipulator. Background technique [0002] The robot is an actuator mounted on the end of the robot actuator to be half-self-help or full self-employed, which is an important tool for the interaction of robots and objects. With the expansion of robot applications, the accuracy of robot is continuously improved, and traditional simple robots have not been able to meet new application requirements, and if they can give robots, they can help robots to achieve more accurate and operation. [0003] At present, the tactile sensor in the robot can only sense vertical or approximately vertical to the surface of the surface, and unable to perceive the force in the direction of the body such as the surface of the tactile sensor, and the existing tactile sensor The perceptual accuracy is low, which is not conducive to ensuring the perception and interaction of th...

AI Technical Summary

Problems solved by technology

With the expansion of the application field of robots, the requirements for the precision of manipulators continue to increase. The traditional simple manipulators can no longer meet the new application requirements. If the sense of touch can be given to the manipulators, it can help the manipulators to achieve more precise perception and operation.

[0003] At present, the tactile sensor on the manipulator can only feel the pressure applied vertically or approximately perpendicular to the surface from the outside world, and cannot omnidirectionally sense the force such as friction force that is not perpendicular to the surface of the tactile sensor. At the same time, the existing tactile sensor The perception accuracy is low, which is not conducive to ensuring the perception and interaction ability of the manipulator to the environment.

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