Single-degree-of-freedom bionic multifunctional manipulator with adaptability

A multi-functional manipulator and manipulator technology, applied in the direction of manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of increased control difficulty and small range, and achieve the effect of convenient control, simple control and simple structure

Active Publication Date: 2021-12-10
BEIJING UNIV OF TECH
View PDF8 Cites 0 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] Regarding the design of the existing manipulator, the invention patent of publication number CN110142791A "Highly Integrated Bionic Manipulator" although this manipulator is closer to the human hand and more flexible, but it uses a multi-degree-of-freedom mechanism, making it more difficult to control
In addition, the invention patent of publication number CN107414880A "Underactuated Mechanical Finger Based on Metamorphic Principle" uses the metamorphic principle to realize the movement of a single-degree-of-freedom mechanical finger, but its gripping range is small

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Single-degree-of-freedom bionic multifunctional manipulator with adaptability
  • Single-degree-of-freedom bionic multifunctional manipulator with adaptability
  • Single-degree-of-freedom bionic multifunctional manipulator with adaptability

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0038] refer to figure 1 , figure 2 , image 3 , Figure 4 , the present invention is an adaptable single-degree-of-freedom bionic multifunctional manipulator, a transmission mechanism (1), and an execution mechanism (2).

[0039] refer to Figure 5 , Figure 6 , when the manipulator is working, the impact force can be relieved when the manipulator grabs the article due to the addition of the spring connecting rod (2-4) and the flexible part of the fingertip connecting rod (2-7), reducing the impact of the grasping hand on the article.

[0040] refer to Figure 7 , Figure 8 , the manipulator can grab and move smaller items, which can remove the items on the shaft when the rack cannot be retracted.

[0041] refer to Figure 9 , the manipulator can grab larger cylinders.

[0042] refer to Figure 10, the manipulator can grasp a smaller cylinder with greater strength.

[0043] refer to Figure 11 , the manipulator can realize the concentric gripping of smaller cyli...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

PUM

No PUM Login to view more

Abstract

The invention discloses a single-degree-of-freedom bionic multifunctional manipulator with adaptability. Aiming at the problems of increase of task types of manipulators and differences of grabbed articles in size, shape and spatial position, the manipulator imitating people to grab articles is designed, and the manipulator imitates the posture and path of people to grab the articles. Under the conditions of ensuring light weight, high reliability, high accuracy and simple control, multifunctional grabbing is achieved, the manipulator comprises a transmission mechanism and an execution mechanism, cylinders with different diameters can be grabbed, fingertips can grab large cuboids and objects in narrow and small spaces and can grab and move small objects, and the cylinders can be grabbed in a hold grabbing mode and a clamp grabbing mode. The manipulator is a single-degree-of-freedom manipulator and is simple and convenient to control. A spring connecting rod is additionally arranged, flexible elements are additionally arranged at the tail end, and thus the buffering force can be effectively reduced. Moreover, the manipulator is additionally provided with a pressure sensor, so that the grabbing force condition can be detected in real time, and damage to the articles caused by excessive force of the manipulator can be effectively avoided.

Description

technical field [0001] The invention belongs to the field of robots, and is an adaptable single-degree-of-freedom bionic multi-functional grasping hand, specifically, a hand that imitates human hands to grasp cylinders of different diameters, fingertips to grasp larger cuboids, and objects in narrow spaces. And a multifunctional manipulator that grabs smaller items and moves (the rack does not retreat). The manipulator is a single-degree-of-freedom manipulator that is easy to control. At the same time, the manipulator adds flexible elements to improve the adaptability and reliability of the manipulator, and the manipulator adds pressure. Sensors are used to control the gripping force of the manipulator. Background technique [0002] Space robots can replace astronauts to complete various complex tasks, and manipulators are the core functional components of space robots as operation execution devices. As the types of tasks increase, the differences in volume, shape and spati...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

Application Information

Patent Timeline
no application Login to view more
Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/08B25J19/00
CPCB25J9/08B25J19/00
Inventor 张自强张勇赵京陶巨
Owner BEIJING UNIV OF TECH
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Try Eureka
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap