CN109249415A - A kind of flexible manipulator based on the perception of bionical strain transducer array - Google Patents
A kind of flexible manipulator based on the perception of bionical strain transducer array Download PDFInfo
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- CN109249415A CN109249415A CN201811462253.5A CN201811462253A CN109249415A CN 109249415 A CN109249415 A CN 109249415A CN 201811462253 A CN201811462253 A CN 201811462253A CN 109249415 A CN109249415 A CN 109249415A
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- strain transducer
- liquid crystal
- bionical
- elastic body
- bionical strain
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- 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
- B25J15/0009—Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/081—Touching devices, e.g. pressure-sensitive
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/087—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices for sensing other physical parameters, e.g. electrical or chemical properties
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Manipulator (AREA)
Abstract
A kind of flexible manipulator based on the perception of bionical strain transducer array, liquid crystal elastic body (1) is hand-type structure, elastic insulated bottom plate (4) is located at the palm of the hand, and deformation can be formed in insertion liquid crystal elastic body (1) and when there is pressure；The array of bionical strain transducer (2) composition is pasted on elastic insulated bottom plate (4)；Bionical strain transducer (2) connect with power pack (5), and the power pack (5) is Wheatstone bridge, connects a bionical strain transducer (2) inside each electric bridge；Power pack (5) is connect by amplification circuit module (6) with control module (7)；First interphalangeal joint, the second interphalangeal joint and metacarpophalangeal joint of liquid crystal elastic body (1) all fingers are respectively embedded into flexible circuit Kapton, it can be bent with the bending of liquid crystal elastic body (1), all be connected with control module (7) per a piece of Kapton heater (3).The present invention is suitable for the object of small, small in size, the more difficult grasping of some quality.
Description
Technical field
The invention belongs to flexible robot's control technology fields, and in particular to a kind of Bionic flexible manipulator.Pass through difference
The pressure that mass objects generate bionical strain transducer, to control the grasping posture of flexible manipulator.
Background technique
Manipulator, also known as machine driving machine people are one kind of industrial robot, it is by driving motor and several mechanical biographies
Motivation structure, such as connecting rod, cam, gear are constituted, and are widely used in industrial production, medical surgery, space operation, danger zone work
The various fields such as industry.Traditional manipulator is Rigid Manipulators, has that structure bulky, low efficiency, operating space be small, response speed
The disadvantages of slow, is not able to satisfy the requirement of various transaction capabilities gradually.
Since the manufacture material of Rigid Manipulators affects its locomitivity, can not meet people's needs, therefore, people
Design using driving methods such as pneumatic, dielectric elastomer, ion-exchange polymer, marmem, response water gels and
The new mechanical arm of support construction, i.e. flexible manipulator are done by flexible material.Flexible manipulator can complete more high flexibility, fit
The bionic movement of answering property, to make up the deficiency that Rigid Manipulators are limited in some applications.Compared with Rigid Manipulators, by
The flexible manipulator of intellectual material driving good, small in size, light weight, good environmental adaptability, low noise advantages with flexibility.
But all-round developing flexible manipulator, especially in terms of imitating mollusk tentacle with intelligent flexible material, world's model at present
The research placed is still within initial stage.In addition, so far, existing flexible manipulator cannot be completely as the tentacle of animal
Ambient enviroment is equally perceived and adapts to, presence, the nonlinear characteristic of itself along with its structural flexibility, so that flexible manipulator
, there is very big practical application value in the problem of being a sufficiently complex nonlinear system, controlling it aspect.Therefore, flexible machine
There are also very big research spaces for tool hand, and in the exploitation in the following manipulator field, Bionic flexible manipulator will occupy extremely important
Status.
Summary of the invention
The object of the present invention is to provide it is a kind of based on bionical strain transducer array perception flexible manipulator, it is suitable for
The object of small, small in size, the more difficult grasping of some quality, it is excellent which has that small in size, structure is simple, sensitivity is high etc.
Point.
It is a kind of based on bionical strain transducer array perception flexible manipulator, it is characterised in that: by liquid crystal elastic body 1,
Bionical strain transducer 2, Kapton heater 3, elastic insulated bottom plate 4, power pack 5, amplification circuit module 6, control
Molding block 7 is constituted, and the liquid crystal elastic body 1 is hand-type structure, and elastic insulated bottom plate 4 is located at the palm of the hand, is nested in liquid crystal elasticity
Deformation can be formed in body 1 and when there is pressure；The array that bionical strain transducer 2 forms is pasted on elastic insulated bottom plate 4；It is imitative
Raw strain transducer 2 is connect with power pack 5, and the power pack 5 is Wheatstone bridge, is located at palm root, each electricity
A bionical strain transducer 2 is all connected inside bridge；Power pack 5 is connect by amplification circuit module 6 with control module 7；Institute
It states control module 7 and is fixed on the palm back side；The first interphalangeal joint, the second interphalangeal joint and the palm of all fingers of liquid crystal elastic body 1
It is respectively embedded into Kapton heater 3 at articulations digitorum manus, the Kapton heater 3 is flexible circuit, can be with
It is bent with the bending of liquid crystal elastic body 1, is all connected with control module 7 per a piece of Kapton heater 3.
Heating sheet is embedded in liquid crystal elastic body 1 by the Kapton heater 3, and encloses polyamides above it
Imines film, plays insulating effect.
The bionical strain transducer 2 is 3cm wide 1cm long, formed at the palm of the hand 1*5 array to the sizes of external items,
Weight is perceived, which is that bionical scorpion body surface seam mechanism of perception develops.
The utility model has the advantages that the resistance value of each sensor can occur when there is object to be placed on bionical strain transducer array
Change, cause the output voltage of each wheatstone bridge circuits different, the changing values of this 5 voltages by amplifying circuit into
Then row amplification is transferred to single-chip microcontroller by AD conversion, then exports stable voltage by the PWM mouth of single-chip microcontroller, close for finger
Kapton heating installation power supply at section realizes grasping of the flexible manipulator to object so that LCE be made to be bent.The present invention
Have the characteristics that high sensitivity, strong real-time, digital flexion degree are controllable, small in size, light weight object can be grabbed, have compared with
High grasping compactness.Future of the invention can be applied in precisely crawl small items field.
Detailed description of the invention
Fig. 1 the structural representation of present invention；
Fig. 2 finger nested structure schematic diagram；
Fig. 3 power pack wheatstone bridge circuits figure；
Fig. 4 grasps effect diagram.
Wherein: 1, liquid crystal elastic body 2, bionical strain transducer 3, Kapton heater 4, elastic insulated bottom
Plate 5, power pack 6, amplification circuit module 7, control module
Specific embodiment
The present invention is the flexible mechanical of research and development on the basis of the mechanism study to liquid crystal elastic body and bionical strain transducer
Hand.That liquid crystal elastic body is quoted is an article (Wang C, Sim K, the Chen J, et in Advanced Materials
al.Soft Ultrathin Electronics Innervated Adaptive Fully Soft Robots[J]
.Advanced Materials, 2018,30 (13): preparation method 1706695.), bionical strain transducer use
An article (Han Z, Liu L, Zhang J, et al.High-performance flexible in Nanoscale
Strain sensor with bio-inspired crack arrays. [J] .Nanoscale, 2018.) sensing described in
Device.
Referring to Fig. 1, manipulator of the invention is using a kind of novel bionic strain transducer (3cm wide, 1cm long) in the palm of the hand
Place's composition 1*5 array perceives size, the weight of external items, which is bionical scorpion body surface seam sense
Know that mechanism develops, have many characteristics, such as super quick, stable, soft, cheap, is suitable for imitating the tactile feel of human hands skin
Know；The manipulator be integrally by liquid crystal elastic body 1 (liquid crystal elastomer, LCE), bionical strain transducer 2,
Kapton heater 3, elastic insulated bottom plate 4, power pack 5, amplification circuit module 6, control module 7 are constituted, liquid crystal
The assembly nested with elastic insulated bottom plate 4 of elastomer 1 is integral, forms hand-type structure；Palm root is power pack 5, bionical to answer
The array for becoming sensor composition is pasted onto elastic insulated bottom plate 4, and finger root places amplification circuit module, corresponding amplifying circuit
Back (the back of the hand top) is control module 7, and the control module 7 is single-chip microcontroller；Construction material of the liquid crystal elastic body 1 as whole hand
Material, is respectively embedded into Kapton heater 3 in the first interphalangeal joint, the second interphalangeal joint and metacarpophalangeal joint of finger,
Two conducting wires per a piece of Kapton heater are all connected on single-chip microcontroller.
When the object for having different quality is placed on the bionical strain transducer array at the palm of the hand, bionical strain transducer by
Power generates deformation, and changes will occur for the resistance of each bionical strain transducer itself, due to each bionical strain sensing
Device is all connected into a wheatstone bridge circuits, and the characteristics of according to Wheatstone bridge, output end is the voltage of variation, so,
When the object for having different quality is placed on the bionical strain transducer array at the palm of the hand, the voltage value of 5 variations can be generated.It is first
The changing value of this 5 voltages is amplified by amplifying circuit first, is then transferred to single-chip microcontroller by AD conversion, then pass through list
The PWM mouth of piece machine exports stable voltage.After receiving the voltage signal to object perception, gather to being placed at finger-joint
Imide membrane heater carries out open state control, heats heater, and then heats to LCE.According to the characteristic of LCE, by
Hot spot will generate bending.When the quality of object is bigger, the duty ratio of SCM PWM will change, to the speed of LCE heating
Degree will be promoted, so that LCE bending effect becomes apparent from, realize the grasping to different quality object with this.
Finger part liquid crystal elastic body schematic diagram nested with Kapton heater is as shown in Figure 2.Heating sheet is embedding
It covers in LCE, and encloses Kapton above it, play insulating effect.
Work and principle of the invention:
As shown in figure 3, R1、R2、R3Resistance value is fixed, RxIt is the resistance of bionical strain transducer, if power pack supply voltage
For VCC, the voltage at each resistance both ends can be calculated by Ohm's law, in R1、RxOn two bridge arms, R1、RxBy VCC electricity
Pressure partial pressure, RxThe voltage that both ends obtain is set as V1, similarly R3The voltage that both ends obtain after partial pressure is set as V2。
If V1And V2Voltage difference be Δ V:
It can thus be seen that Δ V=0, i.e. electric bridge are in equilibrium state if four resistances are all equal.
In the present invention, first by R1、R2、R3Resistance value is fixed, by RxPosition connect upper bionical strain transducer, it is bionical
Strain transducer both ends have reserved conducting wire.Bionical strain transducer formed at the palm of the hand 1*5 array to the sizes of external items,
Weight is perceived, and when the object for having different quality is placed on the bionical strain transducer array at the palm of the hand, bionical strain is passed
Sensor stress generates deformation, and changes will occur for the resistance of each bionical strain transducer itself, answers since each is bionical
Become sensor all to connect into a wheatstone bridge circuits, the characteristics of according to Wheatstone bridge, output end is the voltage of variation
(ΔV).So 5 Δ V can be generated when the object for having different quality is placed on the bionical strain transducer array at the palm of the hand.
This 5 Δ V are amplified by amplifying circuit first, are then transferred to single-chip microcontroller by AD conversion, then pass through single-chip microcontroller
The stable voltage of PWM mouthfuls of output.After receiving the voltage signal to object perception, to the polyimides being placed at finger-joint
Thin film heater carries out open state control, heats heater, and then heats to LCE.According to the characteristic of LCE, heated part
Bending will be generated.When the quality of object is bigger, the duty ratio of SCM PWM will change, will to the speed of LCE heating
It is promoted, so that LCE bending effect becomes apparent from, the grasping to different quality object is realized with this.Grasp effect such as Fig. 4 institute
Show.
Claims (3)
1. it is a kind of based on bionical strain transducer array perception flexible manipulator, it is characterised in that: by liquid crystal elastic body (1),
Bionical strain transducer (2), Kapton heater (3), elastic insulated bottom plate (4), power pack (5), amplifying circuit
Module (6), control module (7) are constituted, and the liquid crystal elastic body (1) is hand-type structure, and elastic insulated bottom plate (4) is located at the palm of the hand
Place, is nested in liquid crystal elastic body (1) and can form deformation when there is pressure；The array of bionical strain transducer (2) composition is viscous
It is attached at elastic insulated bottom plate (4) palm of the hand；Bionical strain transducer (2) connect with power pack (5), the power pack (5)
For Wheatstone bridge, it is located at palm root, connects a bionical strain transducer (2) inside each electric bridge；Power pack
(5) it is connect by amplification circuit module (6) with control module (7)；The control module (7) is fixed on the palm back side；Liquid crystal bullet
First interphalangeal joint, the second interphalangeal joint and metacarpophalangeal joint of property body (1) all fingers are respectively embedded into Kapton and add
Hot device (3), the Kapton heater (3) are flexible circuit, can be curved with the bending of liquid crystal elastic body (1)
Song is all connected with control module (7) per a piece of Kapton heater (3).
2. a kind of flexible manipulator based on the perception of bionical strain transducer array according to claim 1, feature exist
In: heating sheet is embedded in liquid crystal elastic body (1) by the Kapton heater (3), and encloses polyamides above it
Imines film, plays insulating effect.
3. a kind of flexible manipulator based on the perception of bionical strain transducer array according to claim 1, feature exist
In: the bionical strain transducer (2) is 3cm wide 1cm long, and size, weight of the 1*5 array to external items are formed at the palm of the hand
It is perceived, which is that bionical scorpion body surface seam mechanism of perception develops.
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| CN201811462253.5A CN109249415B (en) | 2018-12-03 | 2018-12-03 | Flexible manipulator based on bionic strain sensor array sensing |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109968341A (en) * | 2019-05-14 | 2019-07-05 | 河南机电职业学院 | A kind of bionic machine human arm driving new method based on shape-memory polymer |
| CN110509301A (en) * | 2019-04-30 | 2019-11-29 | 西南交通大学 | A kind of temperature sense manipulator based on shape memory polyurethane material |
| CN110587662A (en) * | 2019-10-07 | 2019-12-20 | 华东交通大学 | Multifunctional polymer robot skin and preparation method thereof |
| CN111168710A (en) * | 2020-03-06 | 2020-05-19 | 安徽大学 | Dexterous finger surface pressure control method based on control current |
| CN111230911A (en) * | 2020-03-20 | 2020-06-05 | 燕山大学 | Flexible finger joint paw based on 4D printing and trajectory tracking control method thereof |
| CN111230912A (en) * | 2020-03-20 | 2020-06-05 | 燕山大学 | Soft joint paw based on 4D printing and consistency control method thereof |
| CN112873197A (en) * | 2019-11-29 | 2021-06-01 | 韩山师范学院 | Intelligent mechanical arm based on pressure film sensor and working process |
| CN113510726A (en) * | 2021-07-13 | 2021-10-19 | 吉林大学 | Intelligent manipulator based on bionic rigid-flexible coupling multi-dimensional force perception |
| CN114110125A (en) * | 2021-11-12 | 2022-03-01 | 珠海格力电器股份有限公司 | Harmonic reducer with self-energized sensor system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113510726A (en) * | 2021-07-13 | 2021-10-19 | 吉林大学 | Intelligent manipulator based on bionic rigid-flexible coupling multi-dimensional force perception |
| CN113510726B (en) * | 2021-07-13 | 2022-07-29 | 吉林大学 | Intelligent manipulator based on bionic rigid-flexible coupling multi-dimensional force perception |
| CN114110125A (en) * | 2021-11-12 | 2022-03-01 | 珠海格力电器股份有限公司 | Harmonic reducer with self-energized sensor system |
| CN114110125B (en) * | 2021-11-12 | 2024-01-23 | 珠海格力电器股份有限公司 | Harmonic reducer with self-powered sensor system |
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