CN109834719A - A method of measurement humanoid dexterous finger finger tip stress - Google Patents
A method of measurement humanoid dexterous finger finger tip stress Download PDFInfo
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- CN109834719A CN109834719A CN201811565033.5A CN201811565033A CN109834719A CN 109834719 A CN109834719 A CN 109834719A CN 201811565033 A CN201811565033 A CN 201811565033A CN 109834719 A CN109834719 A CN 109834719A
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- finger joint
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- 238000000034 method Methods 0.000 title claims abstract description 17
- 238000005259 measurement Methods 0.000 title claims abstract description 13
- 210000001145 finger joint Anatomy 0.000 claims abstract description 160
- 230000007246 mechanism Effects 0.000 claims abstract description 13
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 7
- 238000010008 shearing Methods 0.000 abstract description 3
- 210000003811 finger Anatomy 0.000 description 50
- 239000011888 foil Substances 0.000 description 3
- 238000009434 installation Methods 0.000 description 3
- 238000005452 bending Methods 0.000 description 2
- 210000003813 thumb Anatomy 0.000 description 2
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 238000007796 conventional method Methods 0.000 description 1
- 239000003814 drug Substances 0.000 description 1
- 239000012636 effector Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005057 finger movement Effects 0.000 description 1
- 210000004247 hand Anatomy 0.000 description 1
- 230000008092 positive effect Effects 0.000 description 1
Abstract
The invention discloses a kind of methods for measuring humanoid dexterous finger finger tip stress, using the drive lacking imitation human finger of link mechanism symmetrical structure, left finger joint, right finger joint and the finger joint connecting rod that drive lacking imitation human finger is equipped with upper finger joint and is connect respectively by revolute pair with it, left finger joint and right finger joint are arranged symmetrically about finger joint connecting rod；One strain-ga(u)ge transducer is installed on finger joint connecting rod or Zuo Zhijie or right finger joint, strain-ga(u)ge transducer is connect with signal receiver.The present invention is based on anti-parallelogram mechanisms, the variation that some connecting rod strains in link mechanism is converted by the variation for the stress that dexterous robot finger tip front and back sides are subject to, only need a strain-ga(u)ge transducer that can measure the flexible two kinds of strains of component, the finger tip power of the corresponding positive and negative both direction of dexterous robot finger tip.The link mechanism of finger uses symmetrical structure simultaneously, reduces the strain that the transverse shearing stress that middle finger joint connecting rod is received when finger front and back sides are pressurized generates, improves the accuracy of measurement.
Description
Technical field
The present invention relates to robot technical field, especially a kind of method for measuring humanoid dexterous finger finger tip stress.
Background technique
Robot delicate has become the important research direction of robot field, from the 1980s, respectively
State researcher invents many representative Dextrous Hands in succession.Robot delicate relative to simple end-effector,
It can be carried out finer, more complicated operation, and there is outstanding sensing capability.It is widely used in service robot, remote control behaviour
The fields such as work, tele-medicine.
The driving method of robot clever hand finger is divided into driving and drive lacking completely, drive finger freedom degree more completely but
At high cost, internal structure is complicated.For under-actuated finger because it is easier to manipulate, cost is lower so more general in practical applications
Time.
Humanoid dextrous hand can flexibly grab object as manpower, and the feedback of finger tip power is particularly significant.Robot at present
The normal method of finger tip force feedback is the dress pressure sensor at finger fingertip.One sensor can only obtain the pressure in a direction
Power.If going for the forward and reverse pressure of finger tip, need that one pressure sensor is respectively installed in the front and back sides of finger fingertip.If
Think that the power for obtaining four direction on finger tip cutting plane simultaneously then needs respectively to install a pressure sensor in four sides of finger tip.
This method higher cost for obtaining finger tip power, installation are complicated.
Summary of the invention
The present invention is to solve technical problem present in well-known technique and provide a kind of measurement humanoid dexterous finger finger tip and answer
The method of power can measure the anthropomorphic robot Dextrous Hand work that finger tip is subject to when grabbing object using this method more conveniently
Firmly.
The technical scheme adopted by the present invention to solve the technical problems existing in the known art is that a kind of measurement apery spirit
The method of skilful finger fingertip stress, using the drive lacking imitation human finger of link mechanism symmetrical structure, the drive lacking imitation human finger
Equipped with upper finger joint and the left finger joint, right finger joint and the finger joint connecting rod that are connect respectively by revolute pair with it, the left finger joint and described
Right finger joint is arranged symmetrically about the finger joint connecting rod；It is equipped on the finger joint connecting rod or the left finger joint or the right finger joint
One strain-ga(u)ge transducer, the strain-ga(u)ge transducer are connect with signal receiver.
On the basis of above scheme, the present invention has also done following improvement:
In the middle position of the finger joint connecting rod or the middle position of the left finger joint or the middle position of the right finger joint
One strain-ga(u)ge transducer is installed.
The drive lacking imitation human finger is three section fingers, and the left finger joint is left finger joint, and the right finger joint is right middle finger
Section, the finger joint connecting rod are middle finger joint connecting rod, and the lower end of the lower end of the left finger joint and the right middle finger section passes through respectively to be turned
Dynamic pair is connect with the upper end of the upper end of lower finger joint connecting rod, the upper end of lower-left finger joint and bottom right finger joint, under the middle finger joint connecting rod
End passes through revolute pair with the upper end of the upper end of the bottom right finger joint and the lower-left finger joint respectively and connect, the lower finger joint connecting rod
The lower end of lower end, the lower end of the bottom right finger joint and the lower-left finger joint passes through revolute pair respectively and connect with pedestal, the bottom right
Finger joint and the lower-left finger joint are arranged symmetrically about the lower finger joint connecting rod；The middle finger joint connecting rod and the lower finger joint connecting rod are all
It is mounted on central axes.
The drive lacking imitation human finger is two section fingers, and the left finger joint is lower-left finger joint, and the right finger joint refers to for bottom right
Section, the finger joint connecting rod are lower finger joint connecting rod, the lower end of the lower finger joint connecting rod, the bottom right finger joint lower end and the lower-left
The lower end of finger joint passes through revolute pair respectively and connect with pedestal.
The advantages and positive effects of the present invention are: anti-parallelogram mechanism is based on, by dexterous robot finger tip
The variation for the stress that front and back sides are subject to is converted into the variation that some connecting rod strains in link mechanism, it is only necessary to which a foil gauge passes
Sensor can measure the flexible two kinds of strains of component, the finger tip power of the corresponding positive and negative both direction of dexterous robot finger tip.Simultaneously
The link mechanism of finger uses symmetrical structure, reduces the transverse shearing stress that middle finger joint connecting rod is received when finger front and back sides are pressurized and generates
Strain, improve the accuracy of measurement, and improve the reliability of finger.Relative to conventional method, sensor will be used
Number reduce half, saved cost, simplified installation.
Detailed description of the invention
Fig. 1 is using a schematic structural view of Embodiment 1 of the present invention；
Fig. 2 is the side view of Fig. 1；
Fig. 3 is measuring principle figure of the invention；
Fig. 4 is using a schematic structural view of Embodiment 2 of the present invention.
In figure: 101, upper finger joint, 102, upper finger joint outside, 103, upper finger joint inside, 201, right middle finger section, 301, left finger
Section, 401, middle finger joint connecting rod, 501, strain-ga(u)ge transducer, 601, bottom right finger joint, 701, lower-left finger joint, 801, lower finger joint connecting rod,
901, pedestal.
Specific embodiment
In order to further understand the content, features and effects of the present invention, the following examples are hereby given, and cooperate attached drawing
Detailed description are as follows:
FIG. 1 to FIG. 4 is please referred to, a method of measurement humanoid dexterous finger finger tip stress, using link mechanism symmetrical junction
The drive lacking imitation human finger of structure, the drive lacking imitation human finger are equipped with upper finger joint 101 and are connect respectively by revolute pair with it
Left finger joint, right finger joint and finger joint connecting rod, the left finger joint and the right finger joint are arranged symmetrically about the finger joint connecting rod, described
One strain-ga(u)ge transducer 501 is installed, the foil gauge passes on finger joint connecting rod or the left finger joint or the right finger joint
Sensor 501 is connect with signal receiver.
The present invention recommends in the middle position of the finger joint connecting rod or the middle position of the left finger joint or the right finger joint
Middle position one strain-ga(u)ge transducer 501 is installed, to be convenient for measuring.
Above-mentioned humanoid dexterous hand finger has one degree of freedom.
The present invention is based on anti-parallelogram mechanism, the variation for the stress that dexterous robot finger tip front and back sides are subject to turns
Turn to the variation that some connecting rod strains in link mechanism.Only need a strain-ga(u)ge transducer that can measure component flexible two
Kind strain, the finger tip power of the corresponding positive and negative both direction of dexterous robot finger tip.The link mechanism of finger uses symmetrical junction simultaneously
Structure reduces the strain that the transverse shearing stress that middle finger joint connecting rod is received when finger front and back sides are pressurized generates, improves the accurate of measurement
Degree, and improve the reliability of finger；The number of sensor will be used to reduce half simultaneously, has saved cost, reduced
The workload of sensor installation.
Embodiment 1:
FIG. 1 to FIG. 3 is please referred to, the drive lacking imitation human finger that the present invention applies is the three section fingers in addition to thumb, described
Left finger joint is left finger joint 301, and the right finger joint is right middle finger section 201, and the finger joint connecting rod is middle finger joint connecting rod 401, described
The lower end of left finger joint 301 and the lower end of the right middle finger section 201 pass through respectively revolute pair and lower finger joint connecting rod 801 upper end,
The upper end of lower-left finger joint 701 is connected with the upper end of bottom right finger joint 601, and lower end and the bottom right of the middle finger joint connecting rod 401 refer to
The upper end of section 701 passes through revolute pair with the upper end of the lower-left finger joint 601 respectively and connects, the lower end of the lower finger joint connecting rod 801,
The lower end of the bottom right finger joint 601 and the lower end of the lower-left finger joint 701 pass through revolute pair respectively and connect with pedestal 901, described
Bottom right finger joint 601 and the lower-left finger joint 701 are arranged symmetrically about the lower finger joint connecting rod 801.Middle finger joint connecting rod 401 and lower finger
Section connecting rod 801 is all mounted on central axes.Strain-ga(u)ge transducer 501 is mounted on the middle position or a left side of the right middle finger section 201
The middle position of middle finger joint 301 or the middle position of middle finger joint connecting rod 401.The present embodiment recommends strain-ga(u)ge transducer 501 to install
In the middle position of middle finger joint connecting rod 401, measurement is convenient.
Referring to Fig. 3, drive member can be 701 He of lower-left finger joint when above-mentioned three sections humanoid dextrous hand finger movement
Bottom right finger joint 601 or lower finger joint connecting rod 801.When Dextrous Hand bending, upper finger joint 101 is by answering from upper finger joint inside 103
When power, middle finger joint connecting rod 401 generates slight compression deformation, the small-sized foil gauge that can be installed by 401 middle position of middle finger joint connecting rod
Sensor 501 detects.When Dextrous Hand bending, upper finger joint 101 is by 102 stress on the outside of upper finger joint, middle finger joint connects
Bar 401 generates small tensile deformation, can be detected by the small-sized strain-ga(u)ge transducer 501 that 401 middle position of middle finger joint connecting rod is installed
Out.
Embodiment 2:
Referring to Fig. 4, the drive lacking imitation human finger that the present invention applies is two section finger of thumb, the left finger joint is lower-left
Finger joint 701, the right finger joint are bottom right finger joint 601, and the finger joint connecting rod is lower finger joint connecting rod 801, the lower finger joint connecting rod 801
Lower end, the lower end of the bottom right finger joint 601 and the lower end of the lower-left finger joint 701 pass through revolute pair and pedestal 901 respectively and connect
It connects.Strain-ga(u)ge transducer 501 be mounted on the middle position of the bottom right finger joint 601 or the middle position of lower-left finger joint 701 or under
The middle position of finger joint connecting rod 401.The present embodiment recommendation strain-ga(u)ge transducer 501 is mounted on the interposition of lower finger joint connecting rod 801
It sets, measurement is convenient.
The measuring principle of the present embodiment is same as Example 1.
Although the preferred embodiment of the present invention is described above in conjunction with attached drawing, the invention is not limited to upper
The specific embodiment stated, the above mentioned embodiment is only schematical, be not it is restrictive, this field it is common
Technical staff under the inspiration of the present invention, in the case where not departing from present inventive concept and scope of the claimed protection, goes back
Many forms can be made, within these are all belonged to the scope of protection of the present invention.
Claims (4)
1. a kind of method for measuring humanoid dexterous finger finger tip stress, which is characterized in that using owing for link mechanism symmetrical structure
Imitation human finger is driven, the drive lacking imitation human finger is equipped with upper finger joint and the left finger joint connecting respectively by revolute pair with it, the right side
Finger joint and finger joint connecting rod, the left finger joint and the right finger joint are arranged symmetrically about the finger joint connecting rod；In the finger joint connecting rod
Or the strain-ga(u)ge transducer is installed in the left finger joint or the right finger joint, the strain-ga(u)ge transducer connects with signal
Receive device connection.
2. the method for measurement humanoid dexterous finger finger tip stress according to claim 1, which is characterized in that in the finger joint
The middle position in the middle position or the right finger joint of the middle position of connecting rod or the left finger joint is equipped with the strain
Piece sensor.
3. the method for measurement humanoid dexterous finger finger tip stress according to claim 2, which is characterized in that the drive lacking
Imitation human finger is three section fingers, and the left finger joint is left finger joint, and the right finger joint is right middle finger section, during the finger joint connecting rod is
The lower end of finger joint connecting rod, the lower end of the left finger joint and the right middle finger section passes through the upper of revolute pair and lower finger joint connecting rod respectively
End, lower-left finger joint upper end connected with the upper end of bottom right finger joint, the lower end of the middle finger joint connecting rod is upper with the bottom right finger joint
End passes through revolute pair with the upper end of the lower-left finger joint respectively and connects, the lower end of the lower finger joint connecting rod, the bottom right finger joint
Lower end and the lower end of the lower-left finger joint pass through revolute pair respectively and connect with pedestal, and the bottom right finger joint and the lower-left finger joint are closed
It is arranged symmetrically in the lower finger joint connecting rod；The middle finger joint connecting rod and the lower finger joint connecting rod are all mounted on central axes.
4. the method for measurement humanoid dexterous finger finger tip stress according to claim 2, which is characterized in that the drive lacking
Imitation human finger is two section fingers, and the left finger joint is lower-left finger joint, and the right finger joint is bottom right finger joint, under the finger joint connecting rod is
The lower end of finger joint connecting rod, the lower end of the lower finger joint connecting rod, the lower end of the bottom right finger joint and the lower-left finger joint passes through respectively
Revolute pair is connect with pedestal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811565033.5A CN109834719A (en) | 2018-12-20 | 2018-12-20 | A method of measurement humanoid dexterous finger finger tip stress |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811565033.5A CN109834719A (en) | 2018-12-20 | 2018-12-20 | A method of measurement humanoid dexterous finger finger tip stress |
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| CN109834719A true CN109834719A (en) | 2019-06-04 |
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| CN201811565033.5A Pending CN109834719A (en) | 2018-12-20 | 2018-12-20 | A method of measurement humanoid dexterous finger finger tip stress |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111546366A (en) * | 2020-05-26 | 2020-08-18 | 深圳市优必选科技股份有限公司 | Finger structure and robot |
| WO2021077877A1 (en) * | 2019-10-22 | 2021-04-29 | 北京海益同展信息科技有限公司 | Bionic finger and mechanical hand |
| CN113043301A (en) * | 2019-12-27 | 2021-06-29 | 沈阳新松机器人自动化股份有限公司 | Moment-adjustable sensing device and self-locking manipulator |
| CN113305874A (en) * | 2021-05-27 | 2021-08-27 | 北京交通大学 | Three-finger multi-degree-of-freedom dexterous hand mechanism |
| CN114347057A (en) * | 2022-01-10 | 2022-04-15 | 钛虎机器人科技(上海)有限公司 | Anthropomorphic robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2021077877A1 (en) * | 2019-10-22 | 2021-04-29 | 北京海益同展信息科技有限公司 | Bionic finger and mechanical hand |
| CN113043301A (en) * | 2019-12-27 | 2021-06-29 | 沈阳新松机器人自动化股份有限公司 | Moment-adjustable sensing device and self-locking manipulator |
| CN113043301B (en) * | 2019-12-27 | 2022-06-28 | 沈阳新松机器人自动化股份有限公司 | Moment-adjustable sensing device and self-locking manipulator |
| CN111546366A (en) * | 2020-05-26 | 2020-08-18 | 深圳市优必选科技股份有限公司 | Finger structure and robot |
| CN113305874A (en) * | 2021-05-27 | 2021-08-27 | 北京交通大学 | Three-finger multi-degree-of-freedom dexterous hand mechanism |
| CN113305874B (en) * | 2021-05-27 | 2023-02-17 | 北京交通大学 | Three-finger multi-degree-of-freedom dexterous hand mechanism |
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| CN114347057B (en) * | 2022-01-10 | 2024-01-30 | 钛虎机器人科技(上海)有限公司 | Humanoid robot |
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Application publication date: 20190604 |