MULTI-MODE FLEXIBLE ROBOTIC GRIPPER FOR SOFT ROBOTS

Abstract

The invention relates to a pneumatic artificial muscle-based precision robotic gripper that can be used in many industrial fields requiring precise handling and displacement of materials with varying geometries and weights, such as industrial applications, domestic use, the medical field, or food packaging.

Description

1 TARIFF MULTI-MODE FLEXIBLE ROBOTICS FOR SOFT ROBOTS GRIPPER Technical Area The invention describes the precise handling and displacement of materials with different geometries and weights. industrial applications requiring it, domestic use, medical field or food pneumatic artificial muscle that can be used in many industrial fields such as packaging It relates to a precision robotic gripper based on a specific technology. Previous Technique One of the most critical components of robotic systems is the ability to interact directly with objects. entering and their delicate grasping, handling and These are gripping (perceiving) systems that enable positioning. Traditional robotics Grips are generally made of hard materials, rigid and articulated. They consist of mechanisms. Such grippers are usually electric or hydraulic. 15 are driven by motors and have a high force application capacity. Although they are excellent, they have some significant disadvantages. Due to their rigid structure, grasping objects with different geometries, delicacies, or fragility They may struggle. These types of grippers require complex feedback and control systems. Without this, it is difficult to achieve precise force control, which can damage the gripped object. It increases the risk of transmission. 20 In order to overcome these limitations, "soft robotics" has emerged in recent years. Significant progress has been made in the field of soft robotics. Soft robotics Trappers are made from flexible and adaptable materials and are suitable for biological systems. (For example, a human hand or an octopus arm) is the source of inspiration. The most popular propulsion in this field is... One of the mechanisms is pneumatic artificial muscles (PYK - Pneumatic Artificial 25 (Muscle). Also known as McKibben muscles, these actuators are essentially an inner tube. It consists of a tube and a braided outer sheath surrounding this tube. Pressurized air is pumped into the inner tube. When given pressure, it expands radially and contracts axially, resulting in high tensile strength. It generates force. 2 Pneumatic artificial muscles are characterized by their lightweight construction, high power-to-weight ratios, and natural appearance. Their inherent compliance makes them quite attractive for robotic grippers. It makes it possible. However, many of the current solutions are limited to 5 for a specific application or object type. It has been optimized. Objects with different weights and geometries can be handled simultaneously. It can be gripped, carried, and positioned in the desired location both precisely and strongly. Challenges remain in achieving high-accuracy placement. Specifically, the gripping force can be adjusted instantaneously according to the fragility of the object. Adjustable, lightweight yet high load capacity, and simple control. 10 There is still a need for designs that showcase architecture. Patent document number CN118123791A describes a positioning capture device and... The text refers to a capture system. Patent document number CN116000959A describes a multifunctional automatic gearbox. The term "comprehension" is being mentioned. 15 Existing studies in the field reveal different geometries, weights, and precisions. allows for safe and efficient gripping of objects with varying levels. The subject of the invention is a pneumatic artificial muscle-based precision robotic gripper. It has become necessary to develop it further. Purpose of the Invention 20 The aim of this invention is to create a platform with different geometries, weights, and precision levels. artificial muscles that enable safe and efficient grasping of objects It is the development of a precision robotic gripper based on a specific technology. Detailed Description of the Invention The robotic gripper developed to achieve the purpose of this invention has 25 attached forms. It has been shown. 3 These shapes; Figure 1: Front view of the robotic gripper that is the subject of the invention. Figure 2: Rear view of the robotic gripper that is the subject of the invention. Figure 3: Exploded view of the robotic gripper that is the subject of the invention. Figure 4: Exploded 5 of the leg assembly included in the robotic gripper that is the subject of the invention. It is the appearance. Figure 5: Exploded view of the camera assembly located in the robotic gripper that is the subject of the invention. It is the appearance. Figure 6: Exploded right arm assembly of the robotic gripper that is the subject of the invention. It is the appearance. 10 Figure 7: Exploded left arm assembly of the robotic gripper that is the subject of the invention. It is the appearance. Figure 8: Exploded body assembly of the robotic gripper that is the subject of the invention. It is the appearance. The parts shown in the figures are individually numbered, and these numbers correspond to 15 The corresponding answers are given below. 1. Fuselage group 2. Camera group 3. Right arm group 4. Left arm group 20 5. Leg group 6. Finger 7. Profile 8. Helical compound screw 9. Screw shaft nut 25 10. Linear rail 4 11. Linear slide 12. Bearing 13. Coupling 14. Stepper Motor I 15. Stepper Motor II 5 16. Stepper Motor III 17. Screw shaft 18. Camera 19. Profile intersection connection 20. Limit switch 10 21. Finger holder The invention enables the safe handling of objects with varying geometries, weights, and precision levels. and an artificial muscle-based precision that allows for effective comprehension. It relates to robotic grasping devices, - Main carrier 15 positioned vertically in the center of the gripper body group (1), - Camera designed to be mounted on the top of the body group (1) group (2), - Mounted symmetrically on both sides of the fuselage group (1) mobile right arm group (3) and left arm group (4), 20 - The L-shaped gripper mounted on the lower end of the body group (1) is placed on the ground. leg group (5) that ensures it is fixed and balanced, - fingers (6) located on the right arm group (3) and the left arm group (4) It includes. Camera group (2): 25 to be mounted on the upper part of the body group (1) It is designed. The camera (18) in the camera group (2) is designed to work with the gripper. to monitor the area, recognize target objects, determine their locations, or It ensures precise guidance of the grasping process. Camera group (2) basically; - the perception of the dimensions of the object to be manipulated by the grasping device camera (18), - the up-down movement of the right arm group (3) and the left arm group (4) Step motor I (14) which creates the movement that provides, - The movement of stepper motor I (14) is driven by the screw shaft (17) 5 in the housing assembly (1). by transferring it to the part, the right arm group (3) and the left arm group (4) up and down flexible coupling that enables movement (13) It includes. Body group (1): Main carrier positioned vertically in the center of the system It is an element. The body group (1) is an assembly and alignment for all other groups 10 It acts as the spine. Additionally, it enables vertical movement in the gripper. Structurally, it provides rigidity to the system and is mounted on other components. It includes the necessary connection interfaces for operation. Body group (1) basically; - 15 of the up-down movement of the right arm group (3) and the left arm group (4) linear rail (10) which enables it to be done without swaying and linearly, - linear up-down movement of the right arm group (3) and the left arm group (4) It will be supported by rail (10) and will slide on linear rail (10). linear slide positioned as shown (11), - step motor I (14), 20 - The drive shaft of stepper motor I (14) is connected to it by flexible coupling (13). screw shaft (17), (Screw shaft nut (9) which stays fixed when this part rotates) Thanks to its part, the right arm group (3) and the left arm group (4) move up and down. (is in motion.) - sigma profile 25 connecting the right arm group (3) and the left arm group (4) connecting the intersection link (19) directly with the screw shaft (17) part screw shaft nut (9), 6 - preventing axial misalignment of the screw shaft (17) part and at the same time bearing that allows the screw shaft (17) to rotate around its own axis bearing (12), - minimum downward and upward movement of the right arm group (3) and the left arm group (4) Limit switch (20) which determines the maximum range of motion, (Also 5 The point where the limit switch (20) is located, right arm when the gripper is released This is the point where group (3) and left arm group (4) are waiting. It includes. Right arm group (3) and left arm group (4): To either side of the torso group (1), They are movable mechanisms mounted symmetrically to each other. Right arm group 10 (3) and left arm group (4) allow for horizontal movement. Right arm group (3) and left arm group (4), to grasp, hold, carry the target object and It performs the manipulation function necessary for positioning. The right arm group (3) and the left arm group (4) basically; - rectangular cross-section fingers (6) that perform the grasping action, 15 (When the gripper reaches the front grip position, pressure on the fingers (6) The object is grasped by being given. Because it has a soft structure. (It does not damage the delicate object being grasped.) - connection of rectangular section fingers (6) to helical joint screw shaft () finger grippers (21), 20 - approach-move-away of rectangular cross-section fingers (6) linear, which enables the movement to be performed smoothly and linearly. ray (10), - linear connecting the rectangular section fingers (6) to the linear rail (10) part sled (11), (This part is the fingers (6) coming closer together and moving away from each other 25 bearing that enables the movement to be supported by a linear rail (10) (is a member.) - a helix that allows both right and left turns on a single axis. Combined screw shaft (8), (Helical combined screw shaft (8) rectangular cross-section 7 the fingers (6) move horizontally symmetrically against each other It provides rotational movement with linear screw nuts (9). (It converts into action.) - used to prevent axial misalignment of the helical compound screw shaft (8) and allows the helical combined screw shaft (8) to rotate around its own axis 5 bearing providing (12), - fingers (6) inside the right arm group (3) and the left arm group (4) Limit that determines the minimum and maximum horizontal movement distance. switch (20), (Also the point where the limit switch (20) is located, This is the point where the fingers (6) wait when the grip is free.) 10 - the fingers (6) of the right arm group (3) and the left arm group (4) are horizontal Stepper motor II (15) and stepper motor that enable them to move closer to and further away from each other engine III (16), - The movement of stepper motor II (15) and stepper motor III (16) is driven by a helical screw. by transferring it to the shaft (8) part, the right arm group (3) and the left arm group (4) 15 Flexible coupling (13) that allows the fingers (6) to move horizontally, It includes. Leg assembly (5): An L-shaped base mounted on the lower end of the body assembly (1). or assembly element. The “L” shaped base is made up of profiles (7) that are connected to each other. It has been created. The foot group (5) is 20 on a flat surface of the robotic gripper. It ensures that it stands in a balanced position. The position controls of the gripping arms are controlled by a control board, microcontroller, and stepper motor. 3D printer using motor driver, driver heatsink and optical limit switch It was prepared in the program. Pressure control of pneumatic flexible fingers (6) For this, the compressor, pressure regulator, directional valve, pressure sensor and power supply are 25. It has been used. The robotic gripper that is the subject of the invention has 4 pneumatic artificial fingers (6). The working area is between 50x50 mm and 200x200 mm horizontally, and 330 mm vertically. It can act as such. The developed grasping mechanism works. 8 The principle is that the fingers (6) placed on the screw shafts (17) stepper motors (15, 16) is based on moving through. In this system, the fingers (6), They are positioned to converge towards a single central point. Gripping because it offers a low-cost and easily assembled structure for its frame 20x20 mm aluminum sigma profiles (7) were preferred. Drive 5 As an element, it allows for precise control of rotor position and rotational speed. A stepper motor was used because of its advantage in enabling horizontal movement. while single stepper motor I (14) is provided by stepper motor II (15) and stepper motor Two fingers (6) attached to III (16) move in opposite but equal amounts. By adjusting the grip width, the vertical movement provides an additional 10 It is done with a motor. Step motor II (15) and step motor III (16) In transmitting the incoming circular motion to the screw shaft (17), tolerating axial misalignments Flexible couplings (13) that can be connected to the other end of the coupling (13) have been used. The screw shaft (17) and the screw shaft nut (9) transmit this movement to the fingers (6) It transmits. In vertical motion transmission, the left screw shaft (17) and in horizontal transmission, 15 A screw shaft with half right and half left (17) was preferred. Two different screw shafts on the same shaft. The purpose of finding the helix direction is to make the fingers (6) symmetrical with a single motor. The aim is to bring them closer together in this way. Both ends of the screw shafts (17) are axes. It is supported by spherical bearings (12) in order to minimize its misalignment. Step Circular motion of motor II (15) and stepper motor III (16) on screw shafts (17) 20 a more rigid structure is obtained in the process of converting it into linear motion. To do this, a linear rail (10) and linear slide (11) system was used. The remaining All the connecting elements were produced from PLA material using a 3D printer. For the flexible robotic gripper to move in the desired direction, both these are necessary. both the hardware systems that will perform the movements and these systems 25 Digital software is needed to guide the fingers (6) in the system. Stepper motor II (15) and stepper motor III (16) change their positions, motion mechanical limit switches (20) that determine the boundaries of the object dimensions by sensing the finger (6) movements, the camera (18) and the fingers (6) Special digital codes for controlling the digital pressure regulator applying pressure 30 It has been developed. The initial goal of this software is to enable manual operation of the gripper. The goal is to enable operation in power mode. The basic components of the established system are; a power 9 transformer, a microcontroller, a control board, three motor drivers, three motors driver cooler, a digital display screen, a display control module and digital It consists of a pressure regulator. In addition, it has three stepper motors (14, 15, 16) and Three mechanical limit switches (20) are also integrated into the system. From the digital display A microcontroller was used to transmit the entered commands to the motors, 5 To increase the capacity of this microcontroller, a control board is mounted on it. It has been done. The control board's compatibility with open-source software has been ensured beforehand. It offers fast programming capabilities with defined commands. Although the engine drivers, sensors and additional equipment such as LCD screens directly Although it can be used without an additional board by connecting to the microcontroller pins, output 10 Due to insufficient pins, an additional control board was needed. Another advantage of the control board is the connection required for additional hardware. The ports are already pre-installed. This eliminates the need for soldering and complex processes. Cabling operations have been eliminated. The control board mounted on the microcontroller is used to control the stepper motors (14, 15, 15 16) Three motor drivers to provide speed, torque and direction control. They are installed. In addition, three to prevent these drivers from overheating. An aluminum heatsink is used. To the relevant connection points of the controller; Three stepper motors (14, 15, 16) enable the movement of the fingers (6). 20 that define their maximum positions and change the electrical signal upon contact. three mechanical limit switches (20), digital which applies the required pressure to the fingers (6) It offers manual control without the need for a computer thanks to its pressure regulator. LCD screen and control module displaying the position information of the fingers (6). It is connected. A 10 A, 120 W, 12 V current is used to power the control system. A power transformer with the specified values ​​was used, and the transformer is directly connected to the control board. It is integrated. The control board then supplies power to the microcontroller and the display screen. The microcontroller was connected to the computer via a data cable. It has been programmed. Open-source software was preferred in the programming process. and thus the direction of rotation, speeds and torques of the stepper motors (14, 15, 16) It has been adjusted. In addition, the positions of the limit switches are integrated into the system. 30 This is because the software and control board are based on the 3D printer infrastructure. Therefore, the interface of the dashboard used is also the same as the interface seen in 3D printers. It is similar to that. Thanks to its control panel and instrument panel, the robotic system... The gripper can be controlled separately along the x, y, and z axes. During control... No computer is required. All location controls are in place. Pressure controls of the fingers (6) are provided by an external control panel. This is done manually via the control interface. 5 Integrating image processing into the system to automate the gripper. The system was made with a camera centered at the point where the fingers (6) meet. (18), a reference plane centered on the junction of the fingers (6) and Mounting brackets have been added to secure the camera (18). According to the setup Both manual and autonomous position control from a single, comprehensive interface. 10 This can be done. Also, both manual and autonomous modes can be used through this interface. Pressure control will also be possible. Enabling communication between system components, executing commands from the computer. In order to receive these commands and transmit them to the control board, the microcontroller, It is connected to the computer via a data cable. Previously, only an external digital 15 The robotic gripper is manually controlled via a computer screen. A control interface was needed so that it could be managed in this way. This developed interface allows the gripper to be controlled without the need for a digital control display panel. It also allows for manual control via computer. With the inclusion of the camera (18) into the system, the comprehension process is completely 20 It has become possible to perform this autonomously. The ability to measure objects. For this, the intersection point of the movement axes of the fingers (6) will be seen from above. A camera (18) is positioned as shown and connected to the computer. A reference plane with predetermined dimensions is placed at the center of the grip. The dimensions of this fixed plane, shown below, are in pixels. It has been digitized using a conversion factor. The dimensions of objects placed at the center of the reference plane are the dimensions of the plane. It was calculated proportionally by comparison. The plane is in the shape of a rectangle. Since it was designed this way, the objects to be manipulated will also be in a rectangular form. It is necessary. Thanks to the developed software, 30 are placed in the center. 11 Images of objects are displayed in various real-time modes, as shown in the figure below. It undergoes filtering processes and is then subjected to edge detection. is being held. The actual dimensions of the objects with defined edges are transferred to the control interface. The control interface has two separate modes: automatic control and manual control. This is what happens when automatic control is selected, the "Start autonomous operation" command is displayed. with the fingers (6) front grip taking into account the measured dimensions of the object is brought to this position. After this stage, the fingers (6) are brought to the ground. The pressure is lowered. The pressure is increased in 0.2 bar increments to the fingers (6) that reach the ground. A total pressure of 0.8 bar is applied. Pressurization 10 When completed, the grasping process takes place and the fingers move together with the object. (6) The object is lifted up and held for 3 seconds. Then the object is placed on the ground. The pressure is released and gradually reduced to 0 bar. The fingers (6) that have broken contact with the object are lowered to the starting position. It is turning around and getting ready for the new measurement process. The comprehension process is 15. The steps involved are presented visually below. When the gripper is to be used in manual control mode, the camera (18) To transfer the measurement values ​​obtained by the fingers (6) to the fingers, “Measured You need to click the "Send Value as G-code" option. Fingers (6) When the measured position is reached, the desired clutch pressure is determined and “Pressure 20 The command is transmitted to the system via the "Send Command" button. The comprehension process... When completed, “G- to raise the fingers (6) together with the object. The desired height value is entered in the "Enter Code Command" field, and then... The "Send Command" option is being used. The object is being lowered back to the ground. Similarly, a command is sent by entering the height value. Object 25 When it comes into contact with the surface, the pressure value is set to 0 bar and the object is released. is released. Afterwards, the gripper is returned to its starting position and a The "Send G28 XYZ" button is used to prepare it for the next step. It is used. Thanks to the created control mechanism interface, it is flexible. The robotic gripper can be controlled both manually and via a digital display panel when a computer is not available. 30 It can be controlled both via a computer control interface and manually. 12 It can be controlled both manually and automatically via a computer control interface. It is possible. As previously explained, the movement of the fingers (6) on the gripper It is provided by compressed air. To transmit air to the fingers (6) The 8 bar compressed air obtained from the compressor is transferred to the dual conditioner. 5 This conditioner maintains the variable flow from the compressor at a level of 6 bar. It stabilizes, filters particles in the air, and lubricates dry air. It is made suitable by this process. The 6 bar compressed air coming out of the conditioner, It is routed to a digital three-way proportional regulator. To the proportional regulator The corresponding pressure value from the output line is 10 depending on the applied electric current. The air exiting the regulator is supplied and transmitted to the system. The desired output is obtained from the regulator. The pressure is adjusted and transmitted to a digital pressure sensor. The pressure sensor... This makes verification possible by measuring the actual pressure in the line. The pressure coming from the sensor... Compressed air reaches the silicone fingers (6) and pneumatic action It provides air transmission between the conditioner and the silicone finger (6) 15 The transmission between the compressor and the conditioner is via pneumatic pipes, while the transmission between them is via 1” metal pipe. This is accomplished through... A power supply was used to provide energy to the digital components. This power... the source is required for both the digital proportional regulator and the digital pressure sensor. It provides electrical support. 20 for controlling the proportional regulator. A microcontroller and a control board were used. The control board connects to the microcontroller. After integration, the proportional regulator is connected to the system via the card. This Thanks to this structure, the pressure values ​​selected via computer are controlled by the control board. This data was transferred to the proportional regulator via the microcontroller, control board. It served as the fundamental element enabling its management. 25

Claims

13 REQUESTS 1. The invention involves creating objects with different geometries, weights, and precision levels. artificial muscles that allow for safe and effective gripping It relates to a precision robotic gripper based on 5 - Main carrier positioned vertically in the center of the gripper. body group (1), - Camera designed to be mounted on the top of the body group (1) group (2), - 10 mounted symmetrically on both sides of the fuselage group (1) mobile right arm group (3) and left arm group (4), - The L-shaped gripper mounted on the lower end of the body group (1) is placed on the ground. leg group (5) that ensures it is fixed and balanced, - fingers (6) located on the right arm group (3) and the left arm group (4) It is characterized by its inclusion. 15 2. The invention relates to a robotic gripper as described in Claim 1, with a camera. group (2); - the perception of the dimensions of the object to be manipulated by the grasping device camera (18), - the up-down movement of the right arm group (3) and the left arm group (4) 20 Step motor I (14) which creates the movement that provides, - The movement of stepper motor I (14) is driven by the screw shaft (17) in the housing assembly (1) by transferring it to the part, the right arm group (3) and the left arm group (4) up and down flexible coupling that enables movement (13) It is characterized by its inclusion. 25 3. The invention relates to a robotic grasper as described in Claim 1, with a body. group (1); 14 - the up-down movement of the right arm group (3) and the left arm group (4) linear rail (10) which enables it to be done without swaying and linearly, - linear up-down movement of the right arm group (3) and the left arm group (4) It will be supported by rail (10) and will slide on linear rail (10). linear slide positioned as shown (11), 5 - stepper motor I (14), - The drive shaft of stepper motor I (14) is connected to it by flexible coupling (13). screw shaft (17), - sigma profile connecting the right arm group (3) and the left arm group (4) 10 connecting the intersection link (19) directly to the screw shaft (17) part. screw shaft nut (9), - preventing axial misalignment of the screw shaft (17) part and at the same time bearing that allows the screw shaft (17) to rotate around its own axis bearing (12), - the right arm group (3) and the left arm group (4) minimum up-down movement and 15 Limit switch (20) which determines the maximum range of motion. It is characterized by its inclusion.

4. The invention relates to a robotic grasper as described in Claim 1, for the right arm assembly. (3) and left arm group (4); - rectangular cross-section fingers (6) that perform the grasping action, 20 - connection of rectangular section fingers (6) to helical joint screw shaft () finger grippers (21), - approach-move-away of rectangular cross-section fingers (6) linear, which enables the movement to be performed smoothly and linearly. ray (10), 25 - linear connecting the rectangular section fingers (6) to the linear rail (10) part sled (11), - a helix that allows both right and left turns on a single axis. combined screw shaft (8), - used to prevent axial misalignment of the helical compound screw shaft (8) and allows the helical combined screw shaft (8) to rotate around its own axis. bearing providing (12), - fingers (6) inside the right arm group (3) and the left arm group (4) Limit 5 determines the minimum and maximum horizontal movement distance. switch (20), - the fingers (6) of the right arm group (3) and the left arm group (4) are horizontal Stepper motor II (15) and stepper motor that enable them to move closer to and further away from each other engine III (16), - The movement of stepper motor II (15) and stepper motor III (16) is driven by a helical screw 10 by transferring it to the shaft (8) part, the right arm group (3) and the left arm group (4) Flexible coupling (13) that allows fingers (6) to move horizontally It is characterized by its inclusion.

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