CN109249415B - Flexible manipulator based on bionic strain sensor array sensing - Google Patents
Flexible manipulator based on bionic strain sensor array sensing Download PDFInfo
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- CN109249415B CN109249415B CN201811462253.5A CN201811462253A CN109249415B CN 109249415 B CN109249415 B CN 109249415B CN 201811462253 A CN201811462253 A CN 201811462253A CN 109249415 B CN109249415 B CN 109249415B
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- strain sensor
- liquid crystal
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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
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- 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
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- 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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Abstract
A flexible manipulator based on bionic strain sensor array sensing is characterized in that a liquid crystal elastomer (1) is of a hand-shaped structure, an elastic insulation bottom plate (4) is located at the palm of a hand, is embedded into the liquid crystal elastomer (1) and can deform under pressure; an array formed by the bionic strain sensors (2) is adhered to the elastic insulating bottom plate (4); the bionic strain sensor (2) is connected with a power supply part (5), the power supply part (5) is a Wheatstone bridge, and each bridge is internally connected with one bionic strain sensor (2); the power supply part (5) is connected with the control module (7) through the amplifying circuit module (6); the first interphalangeal joints, the second interphalangeal joints and the metacarpophalangeal joints of all fingers of the liquid crystal elastic body (1) are respectively embedded with a flexible circuit polyimide film which can bend along with the bending of the liquid crystal elastic body (1), and each polyimide film heater (3) is connected with the control module (7). The invention is suitable for objects which have small mass and volume and are difficult to grasp.
Description
Technical Field
The invention belongs to the technical field of flexible robot control, and particularly relates to a bionic flexible manipulator. The gripping gesture of the flexible manipulator is controlled by the pressure of different mass objects on the bionic strain sensor.
Background
The manipulator, also known as mechanical transmission robot, is one kind of industrial robot, and it consists of driving motor and several mechanical transmission mechanisms, such as connecting rod, cam and gear, and is widely used in industrial production, medical surgery, space operation, dangerous area operation and other fields. The traditional manipulator is a rigid manipulator, has the defects of heavy structure, low efficiency, small operation space, low response speed and the like, and can not meet the requirements of various operation performances gradually.
Because the manufacturing materials of the rigid manipulator affect the movement capability of the manipulator and cannot meet the requirements of people, people design a novel manipulator which adopts the driving modes of pneumatics, dielectric elastomers, ion exchange polymers, shape memory alloys, response hydrogel and the like and adopts a flexible material as a supporting structure, namely the flexible manipulator. The flexible manipulator can complete bionic motion with higher flexibility and adaptability so as to make up for the defect that the rigid manipulator is limited in certain applications. Compared with a rigid manipulator, the flexible manipulator driven by the intelligent material has the advantages of good flexibility, small volume, light weight, good environmental adaptability, low noise and the like. However, the current worldwide research is still in its infancy, especially in the context of simulating mollusc tentacles with smart flexible materials. In addition, the existing flexible manipulator can not sense and adapt to the surrounding environment completely like an animal tentacle, and the existence of the structural flexibility and the nonlinear characteristic of the flexible manipulator make the flexible manipulator a very complex nonlinear system, so that the flexible manipulator has great practical application value to the control problem. Therefore, the flexible manipulator has a great research space, and the bionic flexible manipulator will occupy a very important position in the development of the manipulator field in the future.
Disclosure of Invention
The invention aims to provide a flexible manipulator based on bionic strain sensor array sensing, which is suitable for objects which are small in mass, small in size and difficult to grasp, and has the advantages of small size, simple structure, high sensitivity and the like.
The utility model provides a flexible manipulator based on bionical strain transducer array perception which characterized in that: the bionic strain sensor is characterized by comprising a liquid crystal elastomer 1, a bionic strain sensor 2, a polyimide film heater 3, an elastic insulating bottom plate 4, a power supply part 5, an amplifying circuit module 6 and a control module 7, wherein the liquid crystal elastomer 1 is of a hand-shaped structure, and the elastic insulating bottom plate 4 is positioned at the palm of the hand, is nested in the liquid crystal elastomer 1 and can be deformed under pressure; an array formed by the bionic strain sensors 2 is adhered to the elastic insulating bottom plate 4; the bionic strain sensor 2 is connected with a power supply part 5, the power supply part 5 is a Wheatstone bridge and is positioned at the root of the palm, and each bridge is connected with one bionic strain sensor 2; the power supply part 5 is connected with the control module 7 through the amplifying circuit module 6; the control module 7 is fixed on the back of the palm; polyimide film heaters 3 are respectively embedded in the first interphalangeal joints, the second interphalangeal joints and the metacarpophalangeal joints of all fingers of the liquid crystal elastic body 1, the polyimide film heaters 3 are flexible circuits and can be bent along with the bending of the liquid crystal elastic body 1, and each polyimide film heater 3 is connected with a control module 7.
The polyimide film heater 3 embeds a heating sheet in the liquid crystal elastic body 1, and attaches a polyimide film above the heating sheet to play an insulating role.
The bionic strain sensor 2 is 3cm wide and 1cm long, forms a 1 x 5 array at the palm to sense the size and weight of external articles, and is developed by a bionic scorpion body surface seam sensing mechanism.
Has the advantages that: when the object is placed on the bionical strain transducer array, the resistance of every sensor all can change, and the output voltage that leads to every wheatstone bridge circuit is all different, and the change value of these 5 voltages is enlargied through amplifier circuit, then gives the singlechip through AD conversion transmission, and the stable voltage of PWM mouth output of rethread singlechip is for the polyimide film heater power supply of finger joint department, thereby makes the LCE crooked, realizes the gripping of flexible manipulator to the object. The invention has the characteristics of high sensitivity, strong real-time property, controllable finger bending degree and the like, can grab objects with small volume and light weight, and has higher grabbing and attaching degree. The invention can be applied to the field of precisely grabbing tiny objects in the future.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic view of a finger nesting arrangement;
FIG. 3 is a Wheatstone bridge circuit diagram of the power supply portion;
fig. 4 shows a grip effect.
Wherein: 1. liquid crystal elastomer 2, bionic strain sensor 3, polyimide film heater 4, elastic insulating bottom plate 5, power supply part 6, amplifying circuit module 7 and control module
Detailed Description
The invention relates to a flexible manipulator which is researched and developed on the basis of mechanism research on a liquid crystal elastomer and a bionic strain sensor. Liquid crystal elastomers are cited as a method for producing an article in Advanced Materials (Wang C, Sim K, Chen J, et al, Soft ultra Electronics Innervated Adaptive full Soft Robots [ J ]. Advanced Materials,2018,30(13):1706695.), and a biomimetic strain sensor as described in Nanocolle (Han Z, Liu L, Zhang J, et al, high-performance flexible sensor with bio-induced crack array [ J ]. Nanocolle, 2018.).
Referring to fig. 1, the manipulator of the present invention employs a novel bionic strain sensor (3cm wide, 1cm long) to form a 1 × 5 array at the palm to sense the size and weight of the external object, the bionic strain sensor is developed by a bionic scorpion body surface seam sensing mechanism, has the characteristics of hypersensitivity, stability, softness, low price, etc., and is suitable for simulating the touch sensing of human hand skin; the manipulator integrally comprises a liquid crystal elastomer 1 (LCE), a bionic strain sensor 2, a polyimide film heater 3, an elastic insulating bottom plate 4, a power supply part 5, an amplifying circuit module 6 and a control module 7, wherein the liquid crystal elastomer 1 and the elastic insulating bottom plate 4 are nested and assembled into a whole to form a hand-shaped structure; the palm root is a power supply part 5, an array formed by bionic strain sensors is adhered to an elastic insulating bottom plate 4, an amplifying circuit module is arranged at the finger root, a control module 7 is arranged at the back (upper part of the back of the hand) corresponding to the amplifying circuit, and the control module 7 is a single chip microcomputer; the liquid crystal elastomer 1 is used as a structural material of the whole hand, polyimide film heaters 3 are respectively embedded in the first interphalangeal joint, the second interphalangeal joint and the metacarpophalangeal joint of fingers, and two conducting wires of each polyimide film heater are connected to a single chip microcomputer.
When the object of different masses is put on the bionical strain transducer array of palm of hand department, bionical strain transducer atress produces deformation, and the resistance of each bionical strain transducer self all can change, because each bionical strain transducer all connects into a wheatstone bridge circuit, and according to the characteristics of wheatstone bridge, the output is the voltage that changes, so, when the object of different masses is put on the bionical strain transducer array of palm of hand department, can produce 5 changing voltage values. The variation values of the 5 voltages are amplified through an amplifying circuit, then are transmitted to a single chip microcomputer through AD conversion, and then stable voltages are output through a PWM (pulse width modulation) port of the single chip microcomputer. After receiving the voltage signal sensed by the object, the opening state of the polyimide film heater arranged at the finger joint is controlled, so that the heater is heated, and the LCE is further heated. Depending on the nature of the LCE, the heat affected zone will bend. When the quality of object is bigger, singlechip PWM's duty cycle will change, will promote the speed of LCE heating to make the crooked effect of LCE more obvious, with this gripping to the realization of different quality objects.
A schematic diagram of the finger portion liquid crystal elastomer and polyimide film heater nest is shown in fig. 2. The heating plate is embedded in the LCE, and a polyimide film is attached to the heating plate to play an insulating role.
The working and principle of the invention are as follows:
as shown in FIG. 3, R1、R2、R3Resistance value fixed, RxThe bionic strain sensor is a resistor, the power supply voltage of a power supply part is set to be VCC, and the two ends of each resistor can be calculated through ohm's lawAt a voltage of R1、RxOn two bridge arms, R1、RxDividing the voltage of VCC, RxThe voltage obtained across is set to V1In the same way as R3The voltage obtained at both ends after voltage division is set as V2。
Let V1And V2Is Δ V:
it can be seen that if the four resistors are equal, Δ V is 0, i.e., the bridge is in equilibrium.
In the present invention, R is first introduced1、R2、R3A resistance value of R is fixedxThe bionic strain sensor is connected with the position of the sensor, and leads are reserved at both ends of the bionic strain sensor. The bionic strain sensor forms a 1 x 5 array at the palm of the hand to sense the size and weight of an external object, when objects with different masses are placed on the bionic strain sensor array at the palm of the hand, the bionic strain sensor is stressed to deform, the resistance of each bionic strain sensor can change, and because each bionic strain sensor is connected into a Wheatstone bridge circuit, the output end is changed voltage (delta V) according to the characteristics of the Wheatstone bridge. Therefore, when objects of different masses are placed on the biomimetic strain sensor array at the palm of the hand, 5 Δ V's are generated. The 5 delta V are amplified through an amplifying circuit, then are transmitted to a single chip microcomputer through AD conversion, and then are output with stable voltage through a PWM (pulse width modulation) port of the single chip microcomputer. After receiving the voltage signal sensed by the object, the focus placed at the finger joint is focusedAnd controlling the starting state of the imide film heater to heat the heater so as to heat the LCE. Depending on the nature of the LCE, the heat affected zone will bend. When the quality of object is bigger, singlechip PWM's duty cycle will change, will promote the speed of LCE heating to make the crooked effect of LCE more obvious, with this gripping to the realization of different quality objects. The grip effect is shown in fig. 4.
Claims (3)
1. The utility model provides a flexible manipulator based on bionical strain transducer array perception which characterized in that: the bionic strain sensor is characterized by comprising a liquid crystal elastic body (1), a bionic strain sensor (2), a polyimide film heater (3), an elastic insulating bottom plate (4), a power supply part (5), an amplifying circuit module (6) and a control module (7), wherein the liquid crystal elastic body (1) is of a hand-shaped structure, and the elastic insulating bottom plate (4) is positioned at the palm of a hand, is nested in the liquid crystal elastic body (1) and can be deformed under pressure; an array formed by the bionic strain sensors (2) is adhered to the palm of the elastic insulating bottom plate (4); the bionic strain sensors (2) are connected with a power supply part (5), the power supply part (5) is a Wheatstone bridge and is positioned at the root of a palm, and each bridge is connected with one bionic strain sensor (2); the power supply part (5) is connected with the control module (7) through the amplifying circuit module (6); the control module (7) is fixed on the back of the palm; polyimide film heaters (3) are respectively embedded in the first interphalangeal joints, the second interphalangeal joints and the metacarpophalangeal joints of all fingers of the liquid crystal elastic body (1), the polyimide film heaters (3) are made of flexible materials and can be bent along with the bending of the liquid crystal elastic body (1), and each polyimide film heater (3) is connected with a control module (7).
2. The flexible manipulator based on the sensing of the bionic strain sensor array as claimed in claim 1, wherein: the polyimide film heater (3) embeds the heating sheet in the liquid crystal elastic body (1), and attaches a polyimide film above the liquid crystal elastic body to play an insulating role.
3. The flexible manipulator based on the sensing of the bionic strain sensor array as claimed in claim 1, wherein: the bionic strain sensor (2) is 3cm wide and 1cm long, a 1 x 5 array is formed at the palm of the hand to sense the size and weight of an external object, and the bionic strain sensor is developed by a bionic scorpion body surface seam sensing mechanism.
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| 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 |
| 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 |
| CN110587662B (en) * | 2019-10-07 | 2022-07-08 | 华东交通大学 | Multifunctional polymer robot skin and preparation 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 |
| CN111168710A (en) * | 2020-03-06 | 2020-05-19 | 安徽大学 | Dexterous finger surface pressure control method based on control current |
| CN111230911B (en) | 2020-03-20 | 2021-05-04 | 燕山大学 | Flexible finger joint paw based on 4D printing and trajectory tracking control method thereof |
| CN111230912B (en) * | 2020-03-20 | 2021-05-04 | 燕山大学 | Soft joint paw based on 4D printing and consistency control method thereof |
| CN113510726B (en) * | 2021-07-13 | 2022-07-29 | 吉林大学 | Intelligent manipulator based on bionic rigid-flexible coupling multi-dimensional force perception |
| 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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| AU6917298A (en) * | 1997-05-08 | 1998-11-27 | Shangli Huang | An artificial tubular muscle and application thereof |
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