Master-slave macro-micro operation system based on spatial electric heating micro-gripper

Abstract

The application provides a master-slave macro-micro operation system based on a spatial electrothermal micro-gripper, the spatial electrothermal micro-gripper comprises an electrothermal driver and a plurality of gripping arms arranged on the electrothermal driver, and the system comprises: a master end operation module configured to collect hand movement information of an operator, obtain corresponding analog voltage according to the hand movement information, obtain fingertip displacement of the operator according to the analog voltage, and generate a corresponding voltage signal according to the fingertip displacement; and a slave end operation module comprising the spatial electrothermal micro-gripper, the slave end operation module is configured to input a driving voltage to the electrothermal driver according to the voltage signal, and the gripping arms generate corresponding end displacement according to the driving voltage. The application can realize that the gripping arms of the electrothermal driver perform end displacement corresponding to the fingertip displacement of the operator, and realizes the conversion from the movement of a macro mechanical hand to micro operation through displacement scaling.

Description

Technical Field

[0001] This invention relates to the field of micromanipulation technology applications, specifically to a master-slave macro micro-operating system based on a space electrothermal micro-gripper. Background Technology

[0002] Currently, high-precision and high-efficiency micromanipulation has become a research hotspot in various fields such as precision medical equipment, bioengineering, and aerospace. Numerous micromanipulation tools have been developed for application in micromanipulation. Among them, electrothermal microgrippers are widely used in micromanipulation due to their advantages such as simple control, uniform heating, high precision, and larger contact area between the end effector and the cell. However, their dependence on external conditions, such as manual voltage modulation, prevents free and flexible operation, which severely restricts their application in fields such as biology and medicine. Summary of the Invention

[0003] This invention is made to solve the above-mentioned problems, and its purpose is to provide a master-slave macro-micro operating system based on a space electrothermal micro-clamp.

[0004] This invention provides a master-slave macro-micro operating system based on a space electrothermal micro gripper. The space electrothermal micro gripper includes an electrothermal driver and several gripping arms disposed on the electrothermal driver. It has the following features: a master operation module configured to collect the operator's hand movement information, obtain the corresponding analog voltage based on the hand movement information, obtain the operator's fingertip displacement based on the analog voltage, and generate a corresponding voltage signal based on the fingertip displacement.

[0005] The slave-end operation module includes a spatial electrothermal micro-gripper. The slave-end operation module is configured to input a driving voltage to the electrothermal driver based on a voltage signal, and the gripping arm will generate a corresponding end displacement based on the driving voltage.

[0006] The main operating module includes a wearable exoskeleton robotic hand and a microcontroller. The wearable exoskeleton robotic hand consists of several finger plates corresponding to the operator's fingertips and palm plates corresponding to the operator's palms, connected by several linkages corresponding to the operator's finger bones. One end of each linkage connects to a finger plate / palm plate, and the other end connects to a rotary potentiometer for recording the rotation angle of the interphalangeal joints. The rotary potentiometers of the two linkages between the finger plate and palm plate of the same finger are connected to the same data acquisition circuit board. The data acquisition circuit board is located at the interphalangeal joint and corresponds one-to-one with the gripping arm. The linkages have limiting shafts at the interphalangeal joints. The finger plates, palm plates, and data acquisition circuit board have several holes for attaching fixing straps. The operator's fingers, interphalangeal joints, and palms are secured to the wearable exoskeleton robotic hand with fixing straps. The data acquisition circuit board is connected to the microcontroller.

[0007] The wearable exoskeleton robotic hand is configured as a rotary potentiometer to collect the rotation angle of the interphalangeal joints when the operator wears the exoskeleton robotic hand to adduct or abduct the fingers, and generates a corresponding analog voltage based on the rotation angle of the interphalangeal joints. The microcontroller acquires the analog voltage, calculates the fingertip displacement based on the analog voltage, and generates a corresponding voltage signal based on the fingertip displacement.

[0008] The master-slave macro-micro operating system based on a space electrothermal micro-clamp provided by this invention may also have the following feature: the slave operation module further includes a multi-channel adjustable power supply, which communicates with the microcontroller and the space electrothermal micro-clamp.

[0009] The multi-channel adjustable power supply is configured to acquire a voltage signal and input a driving voltage to the electric heating driver according to the voltage signal, and the clamping arm generates a corresponding end displacement according to the driving voltage.

[0010] The master-slave macro-micro operating system based on a space electrothermal micro-gripper provided by this invention may also have the following feature: wherein, in the wearable exoskeleton robotic hand, the generation of corresponding voltage signals based on fingertip displacement includes:

[0011] The end displacement of the gripping arm is calculated based on the fingertip displacement. The required driving voltage is then calculated based on the end displacement of the gripping arm. The voltage signal is derived from the driving voltage, and the correspondence between the voltage signal and the fingertip displacement is established.

[0012] The master-slave macro-micro operating system based on a space electrothermal micro-gripper provided by this invention may also have the following feature: wherein the calculation formula for calculating the end displacement of the gripping arm based on the fingertip displacement is:

[0013] ΔXm(t)=Xm(t)-Xm(0)

[0014] ΔX S (t+1)=βΔXm(t)

[0015] In the formula, Xm(0) is the position of the finger between the fingers at the start time t0, Xm(t) is the position of the finger between the fingers at the end time t, ΔXm(t) is the fingertip displacement increment from time t0 to t, ΔXs(t+1) is the end displacement increment of the clamping arm from time t0 to t, and β is the scaling factor that determines the range of motion of the master and slave ends.

[0016] The master-slave macro-micro operating system based on a space electrothermal micro-clamp provided by this invention may also have the following features:

[0017] The formula for calculating the required driving voltage based on the end displacement of the clamping arm is as follows:

[0018]

[0019] In the formula, U is the driving voltage value, X S Let α be the displacement at the end of the clamping arm, and let α be the coefficient determined by the polynomial fitting between displacement and voltage derived from the static model of the structure and electrothermal actuator of the space electrothermal micro-clamp.

[0020] The master-slave macro-micro operating system based on a space electrothermal micro-clamp provided by this invention may also have the following features:

[0021] In the wearable exoskeleton robotic hand, the fingertip displacement calculated based on simulated voltage includes:

[0022] The microcontroller records the fingertip displacement corresponding to the rotation angle of the interphalangeal joint and establishes the correspondence between the analog voltage generated by the rotary potentiometer corresponding to the rotation angle of the interphalangeal joint and the fingertip displacement.

[0023] The master-slave macro-micro operating system based on a space electrothermal micro-gripper provided by this invention may also have the following features: it further includes a micro-target imaging module and a host computer display module.

[0024] The micro-target imaging module includes a motorized microscope platform and an inverted microscope. The position of the motorized microscope platform is adjusted via a motorized platform control lever. The motorized microscope platform is used to hold the micro-target for the clamping arm. The inverted microscope is positioned directly above the motorized microscope platform and is used to image the end of the clamping arm within the field of view.

[0025] The host computer display module includes a host computer, which is a PC and communicates with the inverted microscope to transmit the images from the inverted microscope to the PC for display.

[0026] The master-slave macro-micro operating system based on the space electrothermal micro gripper provided by the present invention may also have the following features: it further includes a position adjustment module, which includes a robotic arm. The robotic arm is fixedly connected to the electrothermal micro gripper through a connector, and the robotic arm adjusts the position of the electrothermal micro gripper through an operating handle.

[0027] The role and effect of invention

[0028] According to the master-slave macro-micro operating system based on a space electrothermal micro gripper of the present invention, the change in the rotation angle of the rotary potentiometer caused by the adduction / abduction of the finger and interphalangeal joints and the flexion / extension and slight torsion of the wrist and palm joints after wearing the exoskeleton robotic hand causes a change in the driving voltage. This enables the gripping arm to perform end displacement corresponding to the operator's fingertip displacement. The components of the thumb, index finger and middle finger in the macro space can independently control the end displacement of each gripping arm. Through displacement scaling, the transformation from the movement of the macro robotic hand to micro-operation is realized. Attached Figure Description

[0029] Figure 1 This is a structural block diagram of a master-slave macro-microoperating system based on a space electrothermal micro-clamping device in an embodiment of the present invention.

[0030] Figure 2 This is a schematic diagram of the spatial electrothermal micro-clamping device included in the slave operation module in an embodiment of the present invention.

[0031] Figure 3 This is a schematic diagram of the wearable exoskeleton robotic hand included in the main operation module of this invention; and

[0032] Figure 4 This is a schematic diagram of the master-slave macro-microoperating system based on a space electrothermal micro-gripper in an embodiment of the present invention, applicable to an operating platform. Detailed Implementation

[0033] To make the technical means, creative features, objectives and effects of the present invention easy to understand, the following embodiments, in conjunction with the accompanying drawings, specifically illustrate a master-slave macro-micro operating system based on a space electrothermal micro-clamping device.

[0034] <Example>

[0035] Figure 1 This is a structural block diagram of a master-slave macro-microoperating system based on a space electrothermal micro-clamping device in an embodiment of the present invention.

[0036] Figure 2 This is a schematic diagram of the spatial electrothermal micro-clamping device included in the slave operation module in an embodiment of the present invention.

[0037] like Figure 1 and Figure 2 As shown, the present invention provides a master-slave macro micro-operating system based on a space electrothermal micro-gripper. The space electrothermal micro-gripper 1 includes an electrothermal driver 11 and a plurality of gripping arms 12 disposed on the electrothermal driver. The system includes a master operation module 100, a slave operation module 200 and a plurality of other operation modules 300.

[0038] The main operation module 100 is configured to collect the operator's hand movement information, obtain the corresponding analog voltage based on the hand movement information, obtain the operator's fingertip displacement based on the analog voltage, and generate a corresponding voltage signal based on the fingertip displacement. Specifically, the main operation module 100 includes a wearable exoskeleton robotic hand 110 and a microcontroller 120.

[0039] Figure 3 This is a schematic diagram of the wearable exoskeleton robotic hand included in the main operation module of an embodiment of the present invention.

[0040] like Figure 3 As shown, the wearable exoskeleton robotic hand 110 is composed of several finger plates 111 corresponding to the operator's fingertips and palm plates 112 corresponding to the operator's palms, connected by several connecting rods 113 corresponding to the operator's finger bones. One end of the connecting rod 113 is connected to the finger plate 111 / palm plate 112, and the other end of the connecting rod 113 is connected to a rotary potentiometer 114 for recording the rotation angle of the interphalangeal joint. The rotary potentiometers 114 of the two connecting rods 113 located between the finger plate 111 and the palm plate 112 of the same finger are connected to the same... The acquisition circuit board 115 is located at the interphalangeal joint and corresponds one-to-one with the gripping arm 12. The connecting rod is provided with a limiting shaft 116 at the interphalangeal joint. The finger plate 111, palm plate 112 and acquisition circuit board 115 are provided with several strap holes 117 for threading the fixing strap. The operator's fingers, interphalangeal joints and palm are fixed to the wearable exoskeleton robotic hand through the fixing strap. The acquisition circuit board 115 is connected to the microcontroller 120, which can be an STM32 microcontroller.

[0041] The wearable exoskeleton robotic hand 110 is configured as a rotary potentiometer 114 to collect the rotation angle of the interphalangeal joints when the operator wears the exoskeleton robotic hand to adduct or abduct the fingers, and generates a corresponding analog voltage based on the rotation angle of the interphalangeal joints. The microcontroller acquires the analog voltage, calculates the fingertip displacement based on the analog voltage, and generates a corresponding voltage signal based on the fingertip displacement.

[0042] The slave operation module 200 includes a spatial electrothermal micro gripper 1. The slave operation module 200 is configured to input a driving voltage to the electrothermal driver 11 according to a voltage signal, and the gripper arm 12 generates a corresponding end displacement according to the driving voltage.

[0043] The slave operation module 200 also includes a multi-channel adjustable power supply 210, which is communicatively connected to the microcontroller 120 and the space electrothermal micro gripper 1. The multi-channel adjustable power supply is configured to acquire voltage signals and input driving voltage to the electrothermal driver 11 according to the voltage signals. The gripper arm 12 generates corresponding end displacement according to the driving voltage.

[0044] The master-slave macro-micro operating system provided by the present invention essentially controls the spatial electrothermal micro gripper 1 in the slave operating module 200 by operating the wearable exoskeleton robotic hand 110 of the master operating module 100, so that the end of the gripping arm 12 follows the fingertip displacement movement of the wearable exoskeleton robotic hand 110.

[0045] Specifically, in the wearable exoskeleton robotic hand 110, generating a corresponding voltage signal based on fingertip displacement includes: calculating the end displacement of the gripping arm based on the fingertip displacement, calculating the required driving voltage based on the end displacement of the gripping arm, deriving the voltage signal based on the driving voltage, and constructing the correspondence between the voltage signal and the fingertip displacement.

[0046] The formula for calculating the end displacement of the gripping arm based on the fingertip displacement is as follows:

[0047] ΔXm(t)=Xm(t)-Xm(0)

[0048] ΔX S (t+1)=βΔXm(t)

[0049] In the formula, Xm(0) is the position of the finger between the fingers at the start time t0, Xm(t) is the position of the finger between the fingers at the end time t, ΔXm(t) is the fingertip displacement increment from time t0 to t, ΔXs(t+1) is the end displacement increment of the clamping arm from time t0 to t, and β is the scaling factor that determines the range of motion of the master and slave ends.

[0050] The formula for calculating the required driving voltage based on the end displacement of the clamping arm is as follows:

[0051]

[0052] In the formula, U is the driving voltage value, X S Let α be the displacement at the end of the clamping arm, and let α be the coefficient determined by the polynomial fitting between displacement and voltage derived from the static model of the structure and electrothermal actuator of the space electrothermal micro-clamp.

[0053] Within the full range of the rotary potentiometer 114, substitute the value of ΔXs(t+1) obtained from the above equation into the X value in the following equation. S The driving voltage can then be calculated, and the voltage signal can be deduced to establish the correspondence between the voltage signal and the fingertip displacement within the range of motion of the master and slave ends.

[0054] The microcontroller 112 records the fingertip displacement corresponding to the interphalangeal joint rotation angle and establishes a correspondence between the analog voltage generated by the rotary potentiometer 114 corresponding to the interphalangeal joint rotation angle and the fingertip displacement. This ensures that the interphalangeal joint rotation angle of the rotary potentiometer 114 corresponds to the fingertip displacement, allowing the wearable exoskeleton robotic hand 110 to generate an analog voltage corresponding to the interphalangeal joint rotation angle via the rotary potentiometer 114 after generating fingertip displacement. The microcontroller 120 calculates the fingertip displacement and generates a corresponding voltage signal, which in turn generates a corresponding driving voltage. The gripping arm then generates a corresponding end-effector displacement based on this driving voltage.

[0055] Figure 4 This is a schematic diagram of the master-slave macro-microoperating system based on a space electrothermal micro-gripper in an embodiment of the present invention, applicable to an operating platform.

[0056] like Figure 4 As shown, after the master-slave macro-micro operating system provided by the present invention is applied to the operating platform 2, other operating modules 300 may also include a micro-target imaging module 310 and a host computer display module 320.

[0057] The micro-target imaging module 310 includes a motorized microscope platform 311 and an inverted microscope 312. The position of the motorized microscope platform 311 is adjusted by a motorized platform control lever 313. The motorized microscope platform 311 is used to place the micro-target for the clamping arm 12 to hold. The micro-target can be placed in a petri dish 313. The inverted microscope 312 is positioned directly above the motorized microscope platform and is used to image the end of the clamping arm within the field of view.

[0058] The host computer display module 320 includes a host computer 321, which is a PC and is communicatively connected to the inverted microscope 312. The inverted microscope 312 transmits images to the PC for display.

[0059] Other operation modules 300 also include a position adjustment module (not shown in the figure), which includes a robotic arm 330. The robotic arm 330 is mounted on the vibration isolation platform 331 and is fixedly connected to the electrothermal micro gripper 1 through a connector. The robotic arm 330 adjusts the position of the electrothermal micro gripper through the operating handle 332.

[0060] The following is a brief description of the usage method of the master-slave macro-micro operating system based on the space electrothermal micro-gripper in the embodiments of the present invention, applicable to the operating platform:

[0061] Comparison Figure 1The structural block diagram shows that, firstly, the operator connects the communication between the devices and puts the wearable exoskeleton robotic hand 110 on the thumb, index finger, and middle finger of the hand. The connecting rod 113 physically connects the various finger parts, the limiting shaft 116 prevents the rod from reaching the dead point position, and the rotary potentiometer 114 is used to collect the fingertip displacement. All of the above components are placed on the acquisition circuit board 115. After the wear is completed, the palm and fingers are placed flat on the table. At this time, the program is reset to initialize the current angle value and pose information. The current value is used as the initial value, i.e., the calibration value. All subsequent movements are based on the pose at this time.

[0062] Afterwards, the operator opens the display interface of the host computer 321 and observes the imaging. The operator can first manipulate the robotic arm operating handle 332 to adjust it so that the end of the gripping arm 12 is in the field of view and be careful not to exceed the mechanical limit of the robotic arm 330. Adjust the inverted microscope 312 to make it clearly imaged in the field of view. When all communication interfaces are connected, the serial port status indicator light of the data display terminal of the host computer 321 will be lit. At this time, the multi-channel adjustable power supply 210 can be turned on and the rotation of the rotary potentiometer 114 can be controlled by bending, adducting / abducting and the thumb flexing / extending, adducting / abducting and twisting, so as to change the driving voltage, thereby operating the gripping arm 12 to produce the end displacement corresponding to the fingertip displacement.

[0063] In this embodiment, the parts not described in detail are well-known technologies in the art.

[0064] The role and effect of the embodiments

[0065] The master-slave macro-micro operating system based on a spatial electrothermal micro gripper provided by this invention achieves end-effector displacement of the gripper arm corresponding to the operator's fingertip displacement by changing the rotation angle of the rotary potentiometer through the adduction / abduction of the finger joints and the flexion / extension and slight torsion of the wrist joints after wearing the exoskeleton robotic hand. The components of the thumb, index finger and middle finger in the macro space can independently control the end-effector displacement of each gripper arm. Through displacement scaling, the transformation from macroscopic robotic hand movement to microscopic operation is realized.

[0066] The above embodiments are preferred embodiments of the present invention and are not intended to limit the scope of protection of the present invention.

Claims

1. A master-slave macro-microoperating system based on a space electrothermal micro-gripper, the space electrothermal micro-gripper comprising an electrothermal actuator and a plurality of gripping arms disposed on the electrothermal actuator, characterized in that, include: The main operation module is configured to collect the operator's hand movement information, obtain the corresponding analog voltage based on the hand movement information, obtain the operator's fingertip displacement based on the analog voltage, and generate the corresponding voltage signal based on the fingertip displacement. The slave-end operation module includes the spatial electrothermal micro-gripper. The slave-end operation module is configured to input a driving voltage to the electrothermal driver according to the voltage signal, and the gripping arm generates a corresponding end displacement according to the driving voltage. The main operating module includes a wearable exoskeleton robotic hand and a microcontroller. The wearable exoskeleton robotic hand consists of several finger plates corresponding to the operator's fingertips and palm plates corresponding to the operator's palms, connected by several linkages corresponding to the operator's finger bones. One end of each linkage connects to the finger plate / palm plate, and the other end connects to a rotary potentiometer for recording the rotation angle of the interphalangeal joints. The rotary potentiometers of the two linkages located between the finger plate and palm plate of the same finger are connected to the same data acquisition circuit board. The data acquisition circuit board is located at the interphalangeal joint and corresponds one-to-one with the gripping arm. The linkage has a limiting shaft at the interphalangeal joint. The finger plate, palm plate, and data acquisition circuit board have several holes for threading a fixing strap. The operator's fingers, interphalangeal joints, and palm are secured to the wearable exoskeleton robotic hand via the fixing strap. The data acquisition circuit board is connected to the microcontroller. The wearable exoskeleton robotic hand is configured to acquire the rotation angle of the interphalangeal joints when the operator wears the exoskeleton robotic hand to adduct or abduct the fingers, and generate the corresponding analog voltage based on the rotation angle of the interphalangeal joints. The microcontroller acquires the analog voltage, calculates the fingertip displacement based on the analog voltage, and generates the corresponding voltage signal based on the fingertip displacement.

2. The master-slave macro-microoperating system based on a space electrothermal micro-gripper as described in claim 1, characterized in that: in, The slave operation module also includes a multi-channel adjustable power supply, which is communicatively connected to the microcontroller and the space electrothermal micro-clamp. The multi-channel adjustable power supply is configured to acquire the voltage signal and input a driving voltage to the electrothermal driver according to the voltage signal, and the clamping arm generates the corresponding end displacement according to the driving voltage.

3. The master-slave macro-microoperating system based on a space electrothermal micro-gripper as described in claim 2, characterized in that: in, In the wearable exoskeleton robotic hand, generating the corresponding voltage signal based on the fingertip displacement includes: The end displacement of the clamping arm is calculated based on the fingertip displacement, the required driving voltage is calculated based on the end displacement of the clamping arm, the voltage signal is derived from the driving voltage, and the correspondence between the voltage signal and the fingertip displacement is constructed.

4. The master-slave macro-microoperating system based on a space electrothermal micro-clamp as described in claim 3, characterized in that: in, The formula for calculating the end displacement of the clamping arm based on the fingertip displacement is as follows: ΔXm(t)=Xm(t)-Xm(0) ΔX S (t+1)=βΔXm(t) In the formula, Xm(0) is the position of the finger between the fingers at the start time t0, Xm(t) is the position of the finger between the fingers at the end time t, ΔXm(t) is the fingertip displacement increment from time t0 to t, ΔXs(t+1) is the end displacement increment of the clamping arm from time t0 to t, and β is the scaling factor that determines the range of motion of the master and slave ends.

5. The master-slave macro-microoperating system based on a space electrothermal micro-gripper as described in claim 4, characterized in that: in, The formula for calculating the required driving voltage based on the end displacement of the clamping arm is as follows: In the formula, U is the driving voltage value, X S Let α be the end displacement of the clamping arm, and let α be the coefficient determined by polynomial fitting between displacement and voltage, derived theoretically from the structure of the space electrothermal micro-clamp and the static model of the electrothermal driver.

6. The master-slave macro-microoperating system based on a space electrothermal micro-gripper as described in claim 5, characterized in that: in, In the wearable exoskeleton robotic hand, the fingertip displacement calculated based on the simulated voltage includes: The microcontroller records the fingertip displacement corresponding to the rotation angle of the interphalangeal joint and establishes a correspondence between the analog voltage generated by the rotary potentiometer corresponding to the rotation angle of the interphalangeal joint and the fingertip displacement.

7. The master-slave macro-microoperating system based on a space electrothermal micro-gripper as described in claim 6, characterized in that: in, It also includes a micro-target imaging module and a host computer display module. The micro-target imaging module includes a motorized microscope platform and an inverted microscope. The position of the motorized microscope platform is adjusted by a motorized platform control lever. The motorized microscope platform is used to place the micro-target for the clamping arm to hold. The inverted microscope is positioned directly above the motorized microscope platform and is used to image the end of the clamping arm within the field of view. The host computer display module includes a host computer, which is a PC and is communicatively connected to the inverted microscope to transmit the images from the inverted microscope to the PC for display.

8. The master-slave macro-microoperating system based on a space electrothermal micro-gripper as described in claim 7, characterized in that: in, It also includes a position adjustment module, which includes a robotic arm. The robotic arm is fixedly connected to the electrothermal micro-gripper via a connector, and the robotic arm adjusts the position of the electrothermal micro-gripper via an operating handle.

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