Multi-mode flexible gripper based on fiber bragg grating force perception

Abstract

The invention relates to the field of automation control, and discloses a multi-mode flexible gripper based on fiber grating force perception, which can change a gripping mode and adapt to gripped objects in different shapes. The mechanical gripper comprises a base, a first mechanical gripper body, a second mechanical gripper body, a third mechanical gripper body and a driving assembly. The first mechanical claw is provided with a first finger capable of being close to or away from the center of the base. The second mechanical claw and the third mechanical claw are rotationally connected with the base, the second mechanical claw is provided with a second finger capable of being close to or away from the center of the base, and the third mechanical claw is provided with a third finger capable of being close to or away from the center of the base; the driving assembly drives the second mechanical claw and the third mechanical claw to rotate along the periphery of the base. Through cooperation of the driving assembly and a rotary connecting structure between the second mechanical claw and the base and between the third mechanical claw and the base, the included angle between the second mechanical claw and the base and the included angle between the third mechanical claw and the base can be changed, so that different grabbing modes are achieved, objects of different shapes are grabbed, and the application range is widened.

Description

technical field [0001] The invention relates to the field of automatic control, in particular to a multi-modal flexible gripper based on fiber grating force perception. Background technique [0002] Robotic arms are widely used in industrial manufacturing, medical treatment, entertainment services, military, semiconductor manufacturing, and space exploration. However, when current robotic arms grasp objects of different specifications, different grasping devices need to be replaced according to the actual shape of the object. , even the entire robotic arm needs to be replaced, which is very complicated and inefficient; in addition, due to its own characteristics, the flexible robotic arm in the robotic arm will have a large deformation during the grasping process, so the traditional force sensor and force perception The method is difficult to apply to flexible manipulators. SUMMARY OF THE INVENTION [0003] The present invention aims to solve at least one of the technical...

AI Technical Summary

Problems solved by technology

[0002] Robotic arms are widely used in industrial manufacturing, medical treatment, entertainment services, military affairs, semiconductor manufacturing, and space exploration. However, when current robotic arms grab objects of different specifications, they need to be replaced with different grabbing devices according to the actual shape of the object. , or even need to replace the entire robotic arm, switching is very complicated and inefficient; in addition, due to its own characteristics, the flexible robotic hand in the robotic arm will have a large deformation during the grasping process, so traditional force sensors and force sensing The method is difficult to apply to flexible manipulators

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