CN108789384A - A kind of flexible drive manipulator and the object identification method based on three-dimensional modeling - Google Patents
A kind of flexible drive manipulator and the object identification method based on three-dimensional modeling Download PDFInfo
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- CN108789384A CN108789384A CN201811022043.4A CN201811022043A CN108789384A CN 108789384 A CN108789384 A CN 108789384A CN 201811022043 A CN201811022043 A CN 201811022043A CN 108789384 A CN108789384 A CN 108789384A
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- 238000000034 method Methods 0.000 title claims abstract description 18
- 210000003813 thumb Anatomy 0.000 claims abstract description 81
- 210000001145 finger joint Anatomy 0.000 claims abstract description 20
- 230000005057 finger movement Effects 0.000 claims abstract description 8
- 210000003811 finger Anatomy 0.000 claims description 102
- 238000006073 displacement reaction Methods 0.000 claims description 14
- 230000001133 acceleration Effects 0.000 claims description 9
- 230000005484 gravity Effects 0.000 claims description 9
- 239000007788 liquid Substances 0.000 claims description 8
- 230000005514 two-phase flow Effects 0.000 claims description 7
- 238000004804 winding Methods 0.000 claims description 6
- 238000013459 approach Methods 0.000 claims description 3
- 238000004364 calculation method Methods 0.000 claims description 3
- 238000006243 chemical reaction Methods 0.000 claims description 3
- 210000004932 little finger Anatomy 0.000 claims description 3
- 230000008569 process Effects 0.000 claims description 3
- 230000008859 change Effects 0.000 abstract description 4
- 230000003993 interaction Effects 0.000 abstract description 4
- 239000011664 nicotinic acid Substances 0.000 abstract 1
- 239000007789 gas Substances 0.000 description 7
- 230000006870 function Effects 0.000 description 6
- 241000209094 Oryza Species 0.000 description 3
- 235000007164 Oryza sativa Nutrition 0.000 description 3
- 239000012636 effector Substances 0.000 description 3
- 230000008447 perception Effects 0.000 description 3
- 235000009566 rice Nutrition 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 238000004458 analytical method Methods 0.000 description 2
- 230000001419 dependent effect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 210000003414 extremity Anatomy 0.000 description 2
- 210000003205 muscle Anatomy 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 241000905957 Channa melasoma Species 0.000 description 1
- 241001269238 Data Species 0.000 description 1
- 208000017442 Retinal disease Diseases 0.000 description 1
- 238000013480 data collection Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 210000005224 forefinger Anatomy 0.000 description 1
- 230000008571 general function Effects 0.000 description 1
- 230000035876 healing Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000002347 injection Methods 0.000 description 1
- 239000007924 injection Substances 0.000 description 1
- 238000001746 injection moulding Methods 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000003032 molecular docking Methods 0.000 description 1
- 238000005498 polishing Methods 0.000 description 1
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- 230000000452 restraining effect Effects 0.000 description 1
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- 238000009941 weaving Methods 0.000 description 1
- 210000000707 wrist Anatomy 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0006—Exoskeletons, i.e. resembling a human figure
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of flexible drive manipulators, including arm shell and hand shell, the upper/lower terminal of hand shell is respectively open end, the arm shell is connected to each other with hand shell, it further include finger movement formula recognition unit, the finger movement formula recognition unit includes thumb movable part and four refer to movable part and a kind of object identification method based on three-dimensional modeling, and this method is applied to a kind of flexible drive manipulator described above.The invention has the advantages that flexible drive can make the impedance of finger-joint change and be integrated with pressure sensor and angular transducer so that flexible bionic hand can identify ambient enviroment and friendly interaction as human hand.
Description
Technical field
The present invention relates to manipulator improvement, especially a kind of flexible drive manipulator and the object based on three-dimensional modeling are known
Other method.
Background technology
The end effector being presently used on robot arm has a single function, be far from reaching human hand it is flexible with it is general
Function.The function of realizing robot arm end effector redundant degree of freedom and impedance driving disclosure satisfy that industrial and daily
Most of needs in life, for example, the turn of the screw, screwing bottle cap, polishing parts corner angle etc..However more advanced function, it is special
It is not to pass through the quality and shape meaning weight of the contact perception identification object of flexible hand in certain human-computer interactions or particular surroundings
Greatly.For example, service robot can not with visual identity come judgment object shape and quality when, have the tactile sensing that human hand is the same
It is especially important with the function of flexible crawl.In wearable robot, healing robot, walking robot and the vacation constantly grown up
Limb field, impedance driving part, which is largely being designed and used, is pacified due to can minimize impact force, with user
It is complete interactive and they can store and release energy in driven elastic elements.More advanced advanced application, for example pass through flexibility
The flexible and change in location for driving finger perceives identification body form and quality, currently, both at home and abroad in conjunction with flexible force snesor
The documents and materials for also rarely having this respect, more without system research and achievement.
Traditional robot application field, driving part are designed to as far as possible rigid, this is because in this way from can obtain
To the control of accurate position, Trajectory Tracking Control is easier in other words.Corresponding biological part retinal diseases that is, muscle has better than machine
The more advanced adaptability of tool control system and function performance.Muscle is as driving unit, such as excellent power-weight ratio, power weight
It is amount ratio, flexible, robotically-driven it can more meet sports safety, energy efficiency requirement relative to traditional.In these systems
One of them crucial difference is exactly the flexible elastic behavior in other words in biosystem.Although such flexible drive component can
It can be not suitable for classical position control, but in certain novel application fields, such as human-computer interaction, need the submissive and ring of safety
Border interacts, and further, and the shape and matter of object can be identified by Mechanical Contact, such as during capturing
Ground.
Invention content
The purpose of the present invention is to solve the above problem, devises a kind of flexible drive manipulator and built based on three-dimensional
The object identification method of mould.
Realize above-mentioned purpose the technical scheme is that, a kind of flexible drive manipulator, including arm shell and hand
The upper/lower terminal of shell, hand shell is respectively open end, and the arm shell is connected to each other with hand shell, further includes finger
Movable recognition unit, the finger movement formula recognition unit include that thumb movable part and four refer to movable part, the thumb
Movable part includes the first thumb of thumb knuckle, the second thumb knuckle, the first thumb pulley, the second thumb pulley, first
Thumb shaft, the second thumb shaft and first pressure sensor, wherein
The first thumb shaft is arranged is set with the first thumb cunning on the upper end of hand shell, the first thumb shaft
Wheel；
The first thumb pulley is fixedly connected with the first thumb knuckle；
The upper end of the first thumb knuckle is equipped with the second thumb shaft；Described is set in second thumb shaft
Forefinger pulley；
The second thumb pulley is fixedly connected with the second thumb knuckle；
The finger pulp area of the second thumb knuckle is equipped with first pressure sensor；
The arm shell is internally provided with more than one driving part, and the driving part includes rigid belt, wherein
One driving part by rigid belt from top to bottom successively with the first thumb pulley, the second thumb pulley cross winding,
Remaining multiple described driving part is connected with four respectively referring to for finger movable part respectively by rigid belt.
Preferably, being equipped with the first arc gap at the upper end-face edge of the first thumb knuckle.
Preferably, the four fingers movable part includes base portion knuckle, middle part knuckle, end knuckle, base portion cunning
Wheel, middle part pulley, end pulley, base portion shaft, middle part shaft, end part rotating shaft, second pressure sensor and angular transducer,
In,
Suit base portion pulley is arranged on the upper end of hand shell, the base portion shaft in the base portion shaft；
The base portion pulley is fixedly connected with base portion knuckle；
The upper end of the base portion knuckle is equipped with the middle part shaft；The middle part pulley is set in the middle part shaft；
The middle part pulley is fixedly connected with the end knuckle；
The finger pulp area of the end knuckle is equipped with second pressure sensor；
The base portion pulley is equipped with angular transducer.
The second arc gap is equipped at the lower ora terminalis of the base portion knuckle.
Preferably, being equipped with third arc gap at the lower surface edge of the middle part knuckle；The middle part knuckle
Upper end-face edge at be equipped with the 4th arc gap.
Preferably, the lower end of the end knuckle is equipped with the 5th arc gap.
Preferably, the driving part by rigid belt from base portion to end successively with base portion pulley, middle part pulley,
End pulley cross winding, the rigidity belt traction base portion pulley 15, middle part pulley 16, end pulley 17 rotate certain angle
Degree.
Preferably, the driving part is two phase flow variation rigidity driver.
Preferably, described four refer to there are four movable parts, it is index finger movable part respectively, middle finger movable part, unknown
Refer to movable part, little finger of toe movable part.
A kind of object identification method based on three-dimensional modeling, this method are applied to a kind of flexible drive machinery described above
Hand, this approach includes the following steps：
(1) flexible hand system is analyzed and is modeled with object contact, it will：
It is in the terminal position of t moment, connecting rod 1：
x1(t)=l1cosθ1(t) (1)
y1(t)=l1sinθ1(t) (2)
It is in the terminal position of t moment, connecting rod 2：
x2(t)=x1(t)+l2cosθ2(t) (3)
y2(t)=y1(t)+l2sinθ2(t) (4)
It is in the terminal position of t moment, connecting rod 3：
x3(t)=x2(t)+l3cosθ3(t) (5)
y3(t)=y2(t)+l3sinθ3(t) (6)
In the case of non-slip, each link rotatable angle meets drive connection：
x0(t)=r1θ1(t)=r2(θ2(t)-θ1(t))=r3(θ3(t)-θ2(t)) (7)
Wherein, x is rigid belt moving displacement, r1, r2And r3For the pulley radius of connecting rod starting end, l1, l2And l3For even
Pole length that is to say the centre distance of two head sheave of finger-joint, θ1, θ2And θ3The respectively absolute rotation angle of connecting rod.
(2) contour shape of object is identified
xT(t)=x3(t)r3sinα(t) (8)
yT(t)=y3(t)+r3cosα(t) (9)
In order to obtain contour of object shape, finger tips are gently streaked in body surface and calculate finger tips coordinate, just
Profiling object surface coordinate can be obtained, as shown in formula (8) and (9), (xT, yT) it is finger tips and contour of object contact point
Coordinate；
(3) quality of object is perceived：
It is assumed that finger tips are streaked in body surface as uniform motion, ignore issuable small acceleration in real system
Degree can be established and such as be exerted oneself and torque equilibrium equation in finger tips and object contact surface：
F=μ F (10)
T3=(F cos (θ3(t)-α)+f sin(θ3(t)-α))l3+m3gl3cos(θ3(t))/2 (11)
Wherein α is the angle between contour surface and finger tips contact tangent line and reference axis x, which can be by upper section institute
The coordinate points approximate calculation on continuous two contour of object acquired acquires, and F is the positive pressure that finger tips are contacted with body surface
Power can be obtained by the force snesor of finger tips.
Ignore the pivoting friction coefficient inside finger-joint, following equalising torque side also can be obtained inside finger connection
Journey：
T2-T3=m2gl2cosθ2(t)/2 (12)
T1-T2=m1gl1cosθ1(t)/2 (13)
Wherein, m1, m2And m3Respectively the quality of each finger joint of finger, g are acceleration of gravity.
Output torque T1It is obtained by driving part
Wherein, pA, pBIt is A respectively, the pressure in the container of the both sides B, s is the area of medial septum, μ0For with two-phase flowing liquid
Damped coefficient related with gas.
(4) hardness of body surface is perceived：
The hardness for perceiving body surface is converted to calculating when flexible finger captures or touches object, digit speed is by v
During being kept to zero, the size of object reaction force average value suffered by finger tips；Average value is bigger, then shows object hardness
It is bigger.
Finger motion is considered as to the process of fixed-axis rotation, the impulsive moment that driving part is applied to finger total system is：
Wherein, t is that driving part starts the time for driving finger motion to contact object to finger tips, and Δ t is to work as finger
End contacts object and slight impact occurs therewith, until each joint velocity of finger is reduced to for zero time.Object acts on finger
Impulsive moment be：
Impulsive moment caused by gravity is：
According to momentum theorem：
0-0=Md-Mf-Mm (18)
Wherein, m1, m2And m3Respectively the quality of each finger joint of finger, g are acceleration of gravity.
Advantageous effect
A kind of flexible drive manipulator made using technical scheme of the present invention and the object based on three-dimensional modeling are known
Other method, this flexible drive manipulator are characterized in that being integrated with variation rigidity, impedance driving part and angular transducer and pressure
Force snesor so that finger tip contacted with object after due to finger perception, can be to ring by volume of data collection analysis
Border feature is identified, such as contour shape, quality and soft or hard, particularly suitable for artificial limb, human-computer interaction such as server
The end effector of device people and industrial application, also specialized robot, as needed to perceive in foreign environment under particular surroundings
It can not specifically be put in following several respects by body form that visual identity recognizes, quality and soft or hard etc.：
First, embedded angular transducer, each finger-joint pass through rigid shape skin on the finger-joint of flexible drive manipulator
Band driving, rigid shape belt are connect with flexible drive component；
Second, the finger tip surface of flexible drive manipulator is fitted with microsheet pressure sensor, this pressure sensor
The slight pressure variation on finger tip surface can be detected；
Third, the flexible drive component use variation rigidity or impedance driving principle, that is, the unit force exported or unit
The variation of torque and the ratio between unit distance or unit angle variation non-constant value namely Δ F/ Δ x ≠ C, Δ T/ Δs θ ≠ C；
4th, the flexible drive component technical characteristics are exactly the adjustment using nonlinear elasticity mechanical part tension
Come meet impedance driving requirement or a kind of two phase flow (liquids and gases) impedance driving part in parallel by that can not press
The variation of the liquid of contracting and compressible gas is converted into the impedance variations of output connecting rod；
5th, the flexible drive component exports rigidity by adjusting, and applies instantaneous torque in end articulations digitorum manus, leads to
Receive and distribute the hardness of the microsheet pressure sensor and angular transducer ratio measuring and calculating body texture at finger-joint of finger tip surface；
6th, the flexible drive component exports rigidity by adjusting, and driving finger-joint makes finger tip and body surface
Fitting, wrist is kept fixed posture or translation, when finger tip streaks body surface the rotation of finger-joint pass through angular transducer
Record all location information datas；
7th, when the finger tip streaks body surface the rotation of finger-joint all positions are recorded by angular transducer
Information data derives profiling object surface by the modeling of 3 dimension spaces.
Description of the drawings
Fig. 1 is a kind of structural schematic diagram of flexible drive manipulator of the present invention；
Fig. 2 is a kind of sectional view in faces flexible drive manipulator A-A of the present invention；
Fig. 3 is the finger tips and object contact of a kind of object identification method based on three-dimensional modeling of the present invention
Analysis chart；
Fig. 4 is a kind of flow of the finger perception contour of object of object identification method based on three-dimensional modeling of the present invention
Figure；
Fig. 5 is the technical schematic diagram of two phase flow variation rigidity driver of the present invention；
In figure, 1, arm shell；2, hand shell；3, the first thumb knuckle；4, the second thumb knuckle；5, the first thumb
Refer to pulley；6, the second thumb pulley；7, the first thumb shaft；8, the second thumb shaft；9, first pressure sensor；10, rigidity
Belt；11, the first arc gap；12, base portion knuckle；13, middle part knuckle；14, end knuckle；15, base portion pulley；
16, middle part pulley；17, end pulley；18, base portion shaft；19, middle part shaft；20, end part rotating shaft；21, second pressure senses
Device；22, angular transducer；23, the second arc gap；24, third arc gap；25, the 4th arc gap；26, the 5th arc
Gap；27, driving part.
Specific implementation mode
The present invention is specifically described below in conjunction with the accompanying drawings, as shown in Figs. 1-2, a kind of flexible drive manipulator, including
The upper/lower terminal of arm shell 1 and hand shell 2, hand shell 2 is respectively open end, arm shell 1 and 2 phase of hand shell
Docking, further includes finger movement formula recognition unit.
In the technical scheme, which is controlled by control unit, the control in the control unit
Device processed uses the controller of model AT80C51RD2_08, and first pressure sensor 9 and second pressure sensor 21 are all made of type
Number be HT201-L force snesor, pressure limit 0-133N；Angular transducer 22 is using the bright WDA-D22-A of model rice
Precision conductive plastic potentiometer formula angular transducer, maximum value no more than 300 ° angle displacement measure, controller it is multiple defeated
Enter the end output end with first pressure sensor 9 and multiple second pressure sensors 21 and multiple angular transducers 22 respectively
It is electrically connected, the input terminal of multiple output ends of controller respectively with multiple driving parts 27 connects one to one, and passes through control
Driving part 27, i.e., the movement of rigid belt 10 in two phase flow driving part 27, to drive the first thumb pulley 5, the second thumb
Refer to pulley 6, base portion pulley 15, middle part pulley 16, end pulley 17 rotates, and is transmitted to finger tips, finger tips because by
The constraint of profiling object surface, and can only be slided along profiling object surface, object passes the restraining force of finger tips in turn
It is delivered in driving part 27, changes the impedance of driving part 27, and then influence drive displacement to adapt to the constraint of contour of object.
Directly refer to the second pressure of movable part end by the first pressure sensor 9 and four of thumb movable part end
Sensor 21, pressure and then acquires average value with the variation of time, but the average value is not only related with object hardness, also
The time that finger is acted on driving part 27 is related, also the distance dependent with finger initial position from object, therefore, for area
The hardness of point different objects, when specific crawl is compared, need the output for controlling driving part 27, action time and object with
Relative position between finger keeps it consistent as possible, could more accurately offer an explanation object hardness level in this way.
In the technical scheme, finger movement formula recognition unit includes that thumb movable part and four refer to movable part, thumb
Movable part include the first thumb of thumb knuckle 3, the second thumb knuckle 4, the first thumb pulley 5, the second thumb pulley 6,
First thumb shaft 7, the second thumb shaft 8 and first pressure sensor 9, wherein the first thumb shaft 7 is arranged in hand shell
2 upper end is set with the first thumb pulley 5 in the first thumb shaft 7；
First thumb pulley 5 is fixedly connected with the first thumb knuckle 3；
The upper end of first thumb knuckle 3 is equipped with the second thumb shaft 8；The second thumb cunning is set in second thumb shaft 8
Wheel 6；
Second thumb pulley 6 is fixedly connected with the second thumb knuckle 4；
The finger pulp area of second thumb knuckle 4 is equipped with first pressure sensor 9, and first pressure sensor 9 uses model
The force snesor of HT201-L；
Arm shell 1 is internally provided with more than one driving part 27, and driving part 27 includes rigid belt 10, wherein one
A driving part 27 by rigid belt 10 from top to bottom successively with the first thumb pulley 5,6 cross winding of the second thumb pulley,
Remaining multiple driving part 27 is connected with four respectively referring to for finger movable part respectively by rigid belt 10.
In the technical scheme, the first arc gap 11 is equipped at the upper end-face edge of the first thumb knuckle 3.
In the technical scheme, four finger movable parts include base portion knuckle 12, middle part knuckle 13, end knuckle
14, base portion pulley 15, middle part pulley 16, end pulley 17, base portion shaft 18, middle part shaft 19, end part rotating shaft 20, second pressure
Sensor 21 and angular transducer 22, wherein
Suit base portion pulley 15 is arranged on the upper end of hand shell 2, base portion shaft 18 in base portion shaft 18；
Base portion pulley 15 is fixedly connected with base portion knuckle 12；
The upper end of base portion knuckle 12 is equipped with middle part shaft 19；Suit middle part pulley 16 in middle part shaft 19；
Middle part pulley 16 is fixedly connected with end knuckle 14；
The finger pulp area of end knuckle 14 is equipped with second pressure sensor 21, and second pressure sensor 21 uses model
The force snesor of HT201-L；
Base portion pulley 15 is equipped with angular transducer 22, and angular transducer 22 is accurate using the bright WDA-D22-A of model rice
Conductive plastic potentiometer formula angular transducer, angle displacement of the maximum value no more than 300 ° measure；The bright potentiometer type conduction modeling of rice
Expect angular transducer, be the electronic component for positioning object space according to angle change, is suitble to measurement, control and instrument and meter
Using.Have the advantages that anticorrosive, shock resistance, using flexible, easy maintenance etc. are a variety of, is widely used in multiple industries
In.The sensor used time generally presses divider principle and exports (4-20mA) with voltage output or switching current, with axis rotation angle or
Straight-line displacement is at high-precision linear relationship.Its main feature is that high-precision, high life, high flatness, high-resolution.It can be used as position
Feedback, position detection, level adjustment etc..Commonly used in industry from change, precision instrumentation, Electric Actuator, weaving, injection molding,
Being fed back from control system, servo-drive system, information in the fields such as machine tool, medical instrument, automobile, train, the aircraft of numerical control
System.
In the technical scheme, the second arc gap 23 is equipped at the lower ora terminalis of base portion knuckle 12.
In the technical scheme, third arc gap 24 is equipped at the lower surface edge of middle part knuckle 13；Middle part finger joint
The 4th arc gap 25 is equipped at the upper end-face edge of set 13.
In the technical scheme, the lower end of end knuckle 14 is equipped with the 5th arc gap 26.
In the technical scheme, driving part 27 by rigid belt 10 from base portion to end successively with base portion pulley 15,
Middle part pulley 16,17 cross winding of end pulley, the rigidity belt traction base portion pulley 15, middle part pulley 16, end pulley
17 turn an angle.
In the technical scheme, driving part 27 is two phase flow variation rigidity driver.
In the technical scheme, four refer to there are four movable parts, are index finger movable part, middle finger movable part, nothing respectively
Name refers to movable part, little finger of toe movable part.
Embodiment two：
A kind of object identification method based on three-dimensional modeling, this method are applied to a kind of flexible drive machine in embodiment one
Tool hand, this approach includes the following steps：
(1) flexible hand system is analyzed and is modeled with object contact, it will：
It is in the terminal position of t moment, connecting rod 1：
x1(t)=l1cosθ1(t) (1)
y1(t)=l1sinθ1(t) (2)
It is in the terminal position of t moment, connecting rod 2：
x2(t)=x1(t)+l2cosθ2(t) (3)
y2(t)=y1(t)+l2sinθ2(t) (4)
It is in the terminal position of t moment, connecting rod 3：
x3(t)=x2(t)+l3cosθ3(t) (5)
y3(t)=y2(t)+l3sinθ3(t) (6)
In the case of non-slip, each link rotatable angle meets drive connection：
xo(t)=r1θ1(t)=r2(θ2(t)-θ1(t))=r3(θ3(t)-θ2(t)) (7)
Wherein, x is rigid belt moving displacement, r1, r2And r3For the pulley radius of connecting rod starting end, l1, l2And l3For even
Pole length that is to say the centre distance of two head sheave of finger-joint, θ1, θ2And θ3The respectively absolute rotation angle of connecting rod.
Finger tips position is mainly influenced by link rotatable angle, and the angle of link rotatable is driven in component
Rigid belt influences the moving displacement of pulley.Joint above formula, you can acquire contour of object position coordinates and rigid belt
Relationship between moving displacement, and the moving displacement of rigid belt is determined by control input, control flow is as shown in Figure 4.
(2) contour shape of object is identified
xT(t)=x3(t)-r3sinα(t) (8)
yT(t)=y3(t)+r3cosα(t) (9)
In order to obtain contour of object shape, finger tips are gently streaked in body surface and calculate finger tips coordinate, just
Profiling object surface coordinate can be obtained, as shown in formula (8) and (9), (xT, yT) it is finger tips and contour of object contact point
Coordinate；
By being analyzed above it is found that the finger tips position of finger movement formula recognition unit is mainly by the shadow of link rotatable angle
It rings, and the angle of link rotatable is driven rigid belt in component and is influenced on the moving displacement of pulley.Joint above formula,
The relationship between contour of object position coordinates and rigid belt moving displacement can be acquired, and the moving displacement of rigid belt is by controlling
System input determines.
(3) quality of object is perceived：
It is assumed that finger tips are streaked in body surface as uniform motion, ignore issuable small acceleration in real system
Degree can be established and such as be exerted oneself and torque equilibrium equation in finger tips and object contact surface：
F=μ F (10)
T3=(F cos (θ3(t)-α)+f sin(θ3(t)-α))l3+m3gl3cos(θ3(t))/2 (11)
Wherein α is the angle between contour surface and finger tips contact tangent line and reference axis x, as shown in figure 3, the angle
It can be acquired by the coordinate points approximate calculation on upper obtained continuous two contour of object of section, F is finger tips and body surface
The normal pressure of contact can be obtained by the force snesor of finger tips.
Ignore the pivoting friction coefficient inside finger-joint, following equalising torque side also can be obtained inside finger connection
Journey：
T2-T3=m2gl2cosθ2(t)/2 (12)
T1-T2=m1gl1cosθ1(t)/2 (13)
Wherein, m1, m2And m3Respectively the quality of each finger joint of finger, g are acceleration of gravity.
Output torque T1It is obtained by driving part
Wherein, pA, pBIt is A, the pressure in the container of the both sides B, as shown in figure 5, areas of the s for medial septum, μ respectively0For with
The related damped coefficient of two phase flow liquids and gases.
The pressure and volume of perfect gas and ideal liquid meet inverse relation, i.e. CA=pAVA, CB=pBVB, wherein CA, CB
For with the liquid or the relevant fixed constant of gas.By controlling injection or release container A, the gas or liquid at the both ends B, come real
Existing container A, the pressure difference control at the both ends B, to realize the control of rigid belt moving displacement.Joint above equation, Ji Nengqiu
The friction coefficient of body surface is obtained, realizes the function of experiencing body texture.
(4) hardness of body surface is perceived：
The hardness for perceiving body surface is converted to calculating when flexible finger captures or touches object, digit speed is by v
During being kept to zero, the size of object reaction force average value suffered by finger tips；Average value is bigger, then shows object hardness
It is bigger.
Finger motion is considered as to the process of fixed-axis rotation, the impulsive moment that driving part is applied to finger total system is：
Wherein, t is that driving part starts the time for driving finger motion to contact object to finger tips, and Δ t is to work as finger
End contacts object and slight impact occurs therewith, until each joint velocity of finger is reduced to for zero time.Object acts on finger
Impulsive moment be：
Impulsive moment caused by gravity is：
According to momentum theorem：
0-0=Md-Mf-Mm (18)
Wherein, m1, m2And m3Respectively the quality of each finger joint of finger, g are acceleration of gravity.
Variation of the terminal pressure with the time is directly obtained by finger tips pressure sensor, and then acquires average value, but
It is that the average value is not only related with object hardness, the time for also driving rigid belt 10 to act on finger with drive component 27 has
It closes, also the distance dependent with finger initial position from object, therefore, in order to distinguish the hardness of different objects, in specifically crawl ratio
Compared with when, need control driving part output, the relative position between action time and object and finger, make its as possible one
It causes, could more accurately offer an explanation object hardness level in this way.
Above-mentioned technical proposal only embodies the optimal technical scheme of technical solution of the present invention, those skilled in the art
The principle of the present invention is embodied to some variations that some of which part may be made, belongs to the scope of protection of the present invention it
It is interior.
Claims (10)
1. a kind of flexible drive manipulator, including arm shell (1) and hand shell (2), the upper/lower terminal of hand shell (2)
Respectively open end, which is characterized in that the arm shell (1) is connected to each other with hand shell (2), further includes that finger movement formula is known
Other unit, the finger movement formula recognition unit include that thumb movable part and four refer to movable part, the thumb movable part
Including thumb the first thumb knuckle (3), the second thumb knuckle (4), the first thumb pulley (5), the second thumb pulley (6),
First thumb shaft (7), the second thumb shaft (8) and first pressure sensor (9), wherein
First thumb shaft (7) setting is set with first on the upper end of hand shell (2), the first thumb shaft (7)
Thumb pulley (5)；
The first thumb pulley (5) is fixedly connected with the first thumb knuckle (3)；
The upper end of the first thumb knuckle (3) is equipped with the second thumb shaft (8)；It is set in second thumb shaft (8)
The second thumb pulley (6)；
The second thumb pulley (6) is fixedly connected with the second thumb knuckle (4)；
The finger pulp area of the second thumb knuckle (4) is equipped with first pressure sensor (9)；
The arm shell (1) is internally provided with more than one driving part (27), and the driving part (27) includes rigid skin
Band (10), one of them described driving part (27) by rigid belt (10) from top to bottom successively with the first thumb pulley (5),
Second thumb pulley cross winding, remaining multiple described driving part (27) refer to movable part with four respectively by rigid belt (10)
Respectively referring to for part is connected.
2. a kind of flexible drive manipulator according to claim 1, which is characterized in that the first thumb knuckle (3)
Upper end-face edge at be equipped with the first arc gap (11).
3. a kind of flexible drive manipulator according to claim 1, which is characterized in that the four fingers movable part includes base
Portion's knuckle (12), middle part knuckle (13), end knuckle (14), base portion pulley (15), middle part pulley (16), end pulley
(17), base portion shaft (18), middle part shaft (19), end part rotating shaft (20), second pressure sensor (21) and angular transducer
(22), wherein
The base portion shaft (18), which is arranged on the upper end of hand shell (2), the base portion shaft (18), is set with base portion pulley
(15)；
The base portion pulley (15) is fixedly connected with base portion knuckle (12)；
The upper end of the base portion knuckle (12) is equipped with the middle part shaft (19)；Be set on the middle part shaft (19) it is described in
Portion's pulley (16)；
The middle part pulley (16) is fixedly connected with the end knuckle (14)；
The finger pulp area of the end knuckle (14) is equipped with second pressure sensor (21)；
The base portion pulley (15) is equipped with angular transducer (22).
4. a kind of flexible drive manipulator according to claim 3, which is characterized in that under the base portion knuckle (12)
The second arc gap (23) is equipped at ora terminalis.
5. a kind of flexible drive manipulator according to claim 3, which is characterized in that under the middle part knuckle (13)
Third arc gap (24) is equipped at marginal surface；The 4th arc gap is equipped at the upper end-face edge of the middle part knuckle (13)
(25)。
6. a kind of flexible drive manipulator according to claim 3, which is characterized in that under the end knuckle (14)
End is equipped with the 5th arc gap (26).
7. a kind of flexible drive manipulator according to claim 1, which is characterized in that the driving part (27) is by rigid
Property belt (10) from base portion to end successively with base portion pulley (15), middle part pulley (16), end pulley (17) cross winding, institute
State rigid belt traction base portion pulley (15), middle part pulley (16), end pulley (17) turn an angle.
8. according to a kind of any flexible drive manipulators of claim 1-7, which is characterized in that the driving part (27)
For two phase flow variation rigidity driver.
9. a kind of flexible drive manipulator according to claim 1 or 3, which is characterized in that the four fingers movable part has
Four, be index finger movable part, middle finger movable part, nameless movable part, little finger of toe movable part respectively.
10. a kind of object identification method based on three-dimensional modeling, which is characterized in that it is any that this method is applied to claim 1-9
A kind of flexible drive manipulator, this approach includes the following steps：
(1) flexible hand system is analyzed and is modeled with object contact, it will：
It is in the terminal position of t moment, connecting rod 1：
x1(t)=l1cosθ1(t) (1)
y1(t)=l1sinθ1(t) (2)
It is in the terminal position of t moment, connecting rod 2：
x2(t)=x1(t)+l2cosθ2(t) (3)
y2(t)=y1(t)+l2sinθ2(t) (4)
It is in the terminal position of t moment, connecting rod 3：
x3(t)=x2(t)+l3cosθ3(t) (5)
y3(t)=y2(t)+l3sinθ3(t) (6)
In the case of non-slip, each link rotatable angle meets drive connection：
xo(t)=r1θ1(t)=r2(θ2(t)-θ1(t))=r3(θ3(t)-θ2(t)) (7)
Wherein, x is rigid belt moving displacement, r1, r2And r3For the pulley radius of connecting rod starting end, l1, l2And l3For length of connecting rod
Degree, that is to say the centre distance of two head sheave of finger-joint, θ1, θ2And θ3The respectively absolute rotation angle of connecting rod.
(2) contour shape of object is identified
xT(t)=x3(t)-r3sinα(t) (8)
yT(t)=y3(t)+r3cosα(t) (9)
In order to obtain contour of object shape, finger tips are gently streaked in body surface and calculate finger tips coordinate, can be obtained
Obtain profiling object surface coordinate, as shown in formula (8) and (9), (xT, yT) be finger tips and contour of object contact point coordinate；
(3) quality of object is perceived：
It is assumed that finger tips are streaked in body surface as uniform motion, ignore issuable small acceleration in real system,
In finger tips and object contact surface, it can establish and such as exert oneself and torque equilibrium equation：
F=μ F (10)
T3=(Fcos (θ3(t)-α)+fsin(θ3(t)-α))l3+m3gl3cos(θ3(t))/2 (11)
Wherein α is the angle between contour surface and finger tips contact tangent line and reference axis x, which can be acquired by upper section
Continuous two contour of object on coordinate points approximate calculation acquire, F is the normal pressure that is contacted with body surface of finger tips, can
It is obtained by the force snesor of finger tips.
Ignore the pivoting friction coefficient inside finger-joint, following torque equilibrium equation also can be obtained inside finger connection：
T2-T3=m2gl2cosθ2(t)/2 (12)
T1-T2=m1gl1cosθ1(t)/2 (13)
Wherein, m1, m2And m3Respectively the quality of each finger joint of finger, g are acceleration of gravity.
Output torque T1It is obtained by driving part
Wherein, pA, pBIt is A respectively, the pressure in the container of the both sides B, s is the area of medial septum, μ0It is gentle with two-phase flowing liquid
The related damped coefficient of body.
(4) hardness of body surface is perceived：
The hardness for perceiving body surface is converted to calculating when flexible finger captures or touches object, digit speed is kept to by v
During zero, the size of object reaction force average value suffered by finger tips；Average value is bigger, then shows that object hardness is got over
Greatly.
Finger motion is considered as to the process of fixed-axis rotation, the impulsive moment that driving part is applied to finger total system is：
Wherein, t is that driving part starts the time for driving finger motion to contact object to finger tips, and Δ t is to work as finger tips
Simultaneously slight impact occurs therewith for contact object, until each joint velocity of finger is reduced to for zero time.Object acts on rushing for finger
Measuring square is：
Impulsive moment caused by gravity is：
According to momentum theorem：
0-0=Md-Mf-Mm (18)
Wherein, m1, m2And m3Respectively the quality of each finger joint of finger, g are acceleration of gravity.
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