12 results about "Underactuated robots" patented technology

The invention relates to the field of robot hands, in particular to an equivalent stiffness variable parallel clamping-adaptive under-actuated robot hand which comprises two connecting rod-spring mechanisms, the number of the connecting rod-spring mechanisms is two, and two triangular connecting rods are arranged on the sides away from each other; the device further comprises a palm and a sliding block longitudinally connected to the palm in a sliding mode, the lower portions of the two first connecting rods are both rotationally connected to the sliding block, the two public rotating pairs A are installed on the palm, and the lower portions of the two springs are both fixed to the palm. And the two bent connecting rods are respectively provided with a finger. In the actual operation process of a traditional mechanical clamping hand, the core technical pain is that energy loss is too large, however, by means of the structural design, when the clamping hand executes the grabbing action, energy needed by self-adaptive inward bending of fingers can be reduced through driving by reducing a force arm acted by a spring, and therefore the mechanical clamping hand is driven to conduct the grabbing action. And optimization of energy consumption is realized from the source of action execution.

The invention discloses a self-adaptive grabbing force balance control method of an under-actuated manipulator for special-shaped parts. The method comprises the steps that the appearance and the geometric center position of the special-shaped part are obtained through a visual sensor, the gravity center position of the special-shaped part is calculated, and a mechanical arm makes contact with the special-shaped part from the heavier side; gradually increasing the grabbing force of the manipulator, and continuously monitoring the stress condition of each finger of the manipulator; if the stress of at least one finger of the manipulator exceeds a stress upper limit threshold value or the stress balance value of the whole manipulator exceeds a preset stress balance threshold value, the grabbing force of the manipulator returns to the grabbing force level before the last adjustment; a stress compensation strategy of the manipulator is triggered, and grabbing force is increased to try to grab the special-shaped part again; and if the manipulator triggers the stress compensation strategy and cannot grab the special-shaped part successfully, the manipulator is released, and the whole grabbing process is restarted. According to the method, the grabbing safety and stability are improved, meanwhile, the finger layout is optimized, and the method is suitable for complex-surface and special-shaped objects.

A self-adaptive under-actuated rope mechanical arm based on gravity supply relates to the technical field of agricultural mechanical equipment and comprises a base, a mechanical arm assembly, an under-actuated system and a stretching system. The mechanical arm assembly comprises a plurality of arm rods connected in sequence, and the adjacent arm rods are rotationally connected. The under-actuated system and the stretching system are used for achieving bidirectional rotation of all the arm rods in a matched mode, the under-actuated system comprises a plurality of driving units, and the stretching system comprises a plurality of stretching units. The driving unit comprises a vertical slide way arranged on the base, a balancing weight and a driving rope, the balancing weight and the driving rope are arranged in the slide way, the balancing weight can slide up and down in the slide way, and the two ends of the driving rope are connected with the balancing weight and the correspondingly controlled arm rods respectively. The stretching unit comprises a stretching mechanism and a stretching rope, and the two ends of the stretching rope are connected with the stretching mechanism and the correspondingly-controlled arm rods correspondingly. The technical problems that an existing underactuated robot is large in control difficulty, ropes are relatively firm, the system rigidity is low, and operation is unstable can be solved by applying the underactuated robot.

The application relates to the technical field of mobile robots and discloses a complex under-actuated robot full-dynamics decoupling servo control system and method, wherein the control system comprises a calibration target module, a feature sensing module, a data processing module, a position control module and a posture control module; the control method comprises the following steps: energy equations and potential energy equations are established by analyzing the force conditions of each moving component of a robot body; a robot dynamics model is established by substituting a Lagrange function into a Lagrange equation; a conversion equation representing the conversion relationship between robot control variables and self-state variables is established by analyzing the mapping relationship between the robot control variables and the self-state variables; and a control model is obtained based on the conversion equation, a control algorithm is designed, and a control signal is generated. On the basis of ensuring that the robot self-model can fully reflect the dynamics characteristics of the robot, the posture and position dynamics of the robot are decoupled, the accuracy and stability of the body control are improved, and the maneuverability and sensitivity of the robot are effectively exerted.

A kind of double-degree-of-freedom underactuated robot thumb based on linear slide rod mechanism relates to intelligent robot technical field.Base joint frame, proximal phalanx frame and distal phalanx frame are connected by metacarpophalangeal joint and interphalangeal joint to form base structure, two drivers are connected transmission screw lever at bottom, transmission link is Y-shaped structural member, two branch arms of which are hinged to the bottom end of distal phalanx frame, the main arm is provided with slide hole and slide rod to form sliding pair, the bottom end is supported by spring, the bottom end of slide rod is hinged to metacarpophalangeal joint, screw nut and screw lever are arranged on the both sides of the bottom end of transmission link to form ball screw pair, position sensor collects distal phalanx frame position signal, and magnet steel and hall sensor measure proximal phalanx frame position signal.Two degrees of freedom motion is realized by using parallel structure, stable and flexible adaptive enveloping grasping of object is realized, the overall structure is simple and efficient, and has the advantages of high integration, high power density, fast response speed and accurate measurement.

This invention discloses an underactuated robot leg and a flying robot with adaptive landing and grasping capabilities. The underactuated robot leg includes a frame assembly, symmetrically arranged first and second leg units, a first actuator, a second actuator, and a corresponding transmission mechanism. The frame assembly includes a frame plate and two support components. Each leg unit has a first leg structure and a second leg structure arranged side by side. Connected by the support components, the mounting plane of the first leg structure is lower than that of the second leg structure, forming a staggered layout. This invention reliably switches the underactuated robot leg between a passive adaptive stable support configuration, an active grasping configuration, and a folding and storage configuration simply by controlling the extension and retraction of the first and second actuators, solving the contradictory problem of balancing passive adaptive landing on undulating terrain and active grasping of objects within the same mechanism.

The application discloses a kind of underactuated robot fingers based on connecting rod and tendon mechanism hybrid transmission, it is related to intelligent robot technical field.Base front end is hinged with lower swing rod bottom, rear end connects root joint shaft, lower swing rod sleeve sleeve and top fixed connection pin, driving wheel is coaxial with root joint shaft and connects tendon, arc connecting rod connects driving wheel and sleeve, adapter connecting rod front end is hinged with upper swing rod bottom, rear end connects intermediate joint shaft, upper swing rod top fixed connection pin, top joint shaft is above upper swing rod, root end, intermediate and tip knuckle shell are respectively rotationally connected with corresponding joint shaft at bottom, intermediate joint shaft is installed torsional spring, two connecting pins are respectively connected with corresponding knuckle shell.Connecting rod and tendon hybrid transmission are used, transmission efficiency is improved, smaller size and lower weight are realized by underactuated control strategy, have coupling-adaptive motion function, improve flexibility and response speed.

The invention discloses a two-degree-of-freedom under-actuated robot thumb based on a linear sliding rod mechanism, and relates to the technical field of intelligent robots. The base joint rack, the near knuckle rack and the far knuckle rack form a base body structure through metacarpophalangeal joints and interphalangeal joints, two drivers are fixed to the bottom of the base body structure and connected with the transmission lead screw, the transmission connecting rod is a Y-shaped structural part, the ends of two branch arm rods of the transmission connecting rod are hinged to the bottom end of the far knuckle rack, and a main arm rod of the transmission connecting rod is provided with a sliding way hole to form a sliding pair with a sliding rod. The bottom end of the sliding rod is supported through a spring, the bottom end of the sliding rod is hinged to the metacarpophalangeal joint, the two sides of the bottom end of the transmission connecting rod are provided with lead screw nuts and lead screw rods to form a ball screw pair, the position sensor collects far knuckle rack position signals, and the magnetic steel and the Hall sensor measure near knuckle rack position signals. Two-degree-of-freedom movement is carried out by adopting a parallel structure, stable and flexible self-adaptive enveloping grabbing of an object is realized, the overall structure is simple and efficient, and the device has the advantages of high integration level, high power density, high response speed and accurate measurement.

The application discloses a control method of an underactuated robot system, comprising the following steps: acquiring joint position and joint speed of the underactuated robot system under unknown disturbance; designing a finite-time disturbance observer of the unknown disturbance of the underactuated robot system according to the joint position and the joint speed, and then solving a disturbance compensation term according to the finite-time disturbance observer; designing a sliding mode surface of the unknown disturbance of the underactuated robot system according to the joint position and the joint speed, and then solving an equivalent control law and a smooth super-twisting switching control law according to the sliding mode surface; and designing a total control law according to the disturbance compensation term, the equivalent control law and the smooth super-twisting switching control law to control the underactuated robot system. The application enables the underactuated robot system to realize stable control from an initial position to a desired position under unknown external disturbance, and the position error converges rapidly, the control precision is high, and the control torque has no obvious chattering.

The invention discloses a parallel clamping-self-adaptive under-actuated robot finger based on connecting rod-tendon rope hybrid drive, and relates to the technical field of industrial robots. The tail end of the tip knuckle is hinged to the top end of the root knuckle through a front joint shaft, the front joint shaft is sleeved with a torsional spring to connect and position the tip knuckle and the root knuckle and apply eversion torque to the tip knuckle, and the top end of the base is hinged to the tail end of the root knuckle through a rear joint shaft. The worm wheel and the wheel disc are coaxially installed on the rear joint shaft and are circumferentially positioned, the two ends of the rigid connecting rod are hinged to the tail end of the sharp knuckle and the edge of the wheel disc through positioning pins correspondingly, and the two ends of the coupling tendon rope are fixedly connected with a winding groove prefabricated at a rotating shaft at the tail end of the sharp knuckle and the top end of the base correspondingly; the driving motor is fixedly installed on the base and connected with a transmission worm, and the worm is meshed with the worm gear. The two-degree-of-freedom fingers are driven through the single motor, flexible switching between flat clamping grabbing and self-adaptive grabbing is achieved, the grabbing efficiency, stability and environment adaptability are improved, and the control difficulty is reduced.

The invention relates to the technical field of manipulators, in particular to a multi-finger cooperative underactuated robot hand which comprises a palm shell, a limiting structure fixed in the palm shell, a transmission assembly and a driving assembly in order to flexibly control four fingers through a single motor. Each transmission assembly comprises a sliding block connected to the limiting structure in a sliding mode and a first spring with one end fixed to the sliding block and the other end serving as a fixed end, and the number of the transmission assemblies is four. The driving assembly comprises a first power source fixed to the palm shell, a limiting piece fixed in the palm shell, and a first rope, a second rope, a third rope and a fourth rope which are wound and released through the first power source. The first rope, the second rope, the third rope and the fourth rope are wound on the limiting piece to be higher than all the transmission assemblies, are wound on the four sliding blocks correspondingly and extend upwards to be used for being connected with the fingers, the first spring is used for providing reset force for the sliding blocks connected with the first spring, and when the first power source is wound, the first spring is used for pulling the fingers to be bent, and otherwise, the first power source is used for pulling the fingers to be bent.

An underactuated robotic finger with a rigid-flexible hybrid transmission mechanism relates to the field of intelligent robotics. The driving bevel gear inside the gearbox is connected to the drive motor for transmission, while the driven bevel gear is connected to the worm. A connecting seat is fixed to the top of the gearbox, with a rotating shaft mounted in the middle to house a worm gear that meshes with the worm. The end of the knuckle housing is rotationally connected to the worm gear, the end of the swing arm is hinged to the front edge of the connecting seat, and a sliding rod is slidably mounted in a limit slot at the top. The end of the drive arm is hinged to the rear edge of the worm gear surface, and the top is hinged to the inner end of the sliding rod. The fingertip assembly includes a flexible base and a rigid frame with a spring, which is hinged to the top of the knuckle housing. The outer end of the sliding rod is hinged to a rigid support rod that is embedded in the fingertip assembly. The rigid-flexible hybrid transmission mechanism, combined with the underactuated design, is simple and easy to implement, meeting the requirements of anthropomorphic prosthetic fingers in terms of size, weight, integration, and grasping envelope. It features coupled-adaptive motion, improving flexibility and comfort.