CN110328678A - A kind of underactuated manipulator with manpower synchronization control function - Google Patents
A kind of underactuated manipulator with manpower synchronization control function Download PDFInfo
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- CN110328678A CN110328678A CN201910712030.8A CN201910712030A CN110328678A CN 110328678 A CN110328678 A CN 110328678A CN 201910712030 A CN201910712030 A CN 201910712030A CN 110328678 A CN110328678 A CN 110328678A
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- 235000016390 Uvaria chamae Nutrition 0.000 claims description 13
- 230000033001 locomotion Effects 0.000 claims description 11
- 230000005611 electricity Effects 0.000 claims 1
- 210000001145 finger joint Anatomy 0.000 description 13
- 230000007246 mechanism Effects 0.000 description 8
- 241000905957 Channa melasoma Species 0.000 description 6
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Classifications
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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
-
- 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
-
- 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
-
- 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
- B25J17/00—Joints
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of underactuated manipulators with manpower synchronization control function, including sensor glove ontology, underactuated manipulator ontology and control module；The sensor glove ontology includes band there are five the rubber gloves of fingerstall, and the back side of each fingerstall of rubber gloves is respectively and fixedly provided with resistance-type bending sensor；The underactuated manipulator ontology includes palm pedestal, and connection is equipped with underactuatuated drive there are five finger is driven on palm pedestal between each driving finger and palm pedestal；The control module includes being equipped with one-chip computer module, and the one-chip computer module is connected with resistance-type bending sensor, for receiving the feedback signal of resistance-type bending sensor；The one-chip computer module is connected with driving steering engine.The present invention not only can carry out manpower synchronously control to manipulator by sensor glove, but also present invention employs follow-on underactuatuated drives to be driven, so that the present invention is adaptable strong, power output is big, controls simple feature.
Description
Technical field
The present invention relates to manipulator technical field, in particular to a kind of activation lacking mechanical with manpower synchronization control function
Hand.
Background technique
With social development and scientific and technological progress, world today's robot technology is universal as an important branch of high-tech
The attention of various countries is received, many fields such as exploration, national defense construction and people's lives obtain in industrial production, space and ocean
It huge development and is more and more widely used.The fine and complication degree of robot manipulating task environment and execution task also becomes
It is higher and higher, ordinary robot and the end clamping apparatus configured with it oneself be far from satisfying space flight operation, deep-sea is made
Various dexterous and accurate operation task requirements on industry, nuclear industry technology and other flexible production lines, people wait in expectation can
A kind of end-effector that is general, intelligentized, adapting to various complex works needs and robot are assembled, assisted
It adjusts and completes various complicated and exquisite tasks.In this background, the research of multi-finger dexterous hand of robot oneself become machine
One of popular research direction of people's research field.
It is simple to manufacture though traditional dedicated workholder has, the features such as easy to control, load capacity is strong, high reliablity,
It is only to be applicable in the object of a small amount of specific shape, lacks versatility, be not able to satisfy the requirement of multitask, high-adaptability.
Wherein under-actuated systems refer to that the independent control variable number of system is less than a kind of non-thread of degree of freedom in system number
Property system, save energy, reduce cost, mitigate weight, enhancing in terms of all more complete drive system it is superior.
Under-actuated systems theory is applied in the design of manipulator and can simplify its structure, reduces weight and cost, while can also mention
The performance of high manipulator.But it is less about the research of drive lacking transmission system on a robotic arm, therefore research and develop a by deficient drive
The product that dynamic transmission system is combined with manipulator, becomes project urgently to be resolved.
Summary of the invention
The object of the present invention is to provide a kind of underactuated manipulators with manpower synchronization control function.The present invention is not
Only can by sensor glove to manipulator carry out manpower synchronously control, and present invention employs follow-on underactuatuated drive into
Row driving, so that the present invention is adaptable strong, power output is big, controls simple feature.
Technical solution of the present invention: a kind of underactuated manipulator with manpower synchronization control function, including sensor glove
Ontology, underactuated manipulator ontology and control module；
The sensor glove ontology includes band there are five the rubber gloves of fingerstall, and the back side of each fingerstall of rubber gloves is equal
It is fixed with resistance-type bending sensor；The underactuated manipulator ontology includes palm pedestal, on palm pedestal there are five connections
Finger is driven, underactuatuated drive is equipped between each driving finger and palm pedestal；The driving finger includes and palm pedestal
The finger root block of flexible connection refers to that the front end of root block is hinged with block in finger, refers to that middle piece of front end is hinged with finger tip block；
The underactuatuated drive includes the first connecting rod for being hinged on finger tip block back, and the rear ends of block are hinged in the finger
There is second connecting rod, the top of the first connecting rod and the top of second connecting rod are hinged, and the rear ends for referring to root block are hinged with
Third connecting rod, the top of third connecting rod are hinged with fourth link, and the top of fourth link and the middle part of second connecting rod are hinged；It is described
The back channel fixed frame of palm pedestal is fixed with driving steering engine, and the output shaft of steering engine is driven to be connected with the 5th connecting rod, the 5th connecting rod
Top and third connecting rod middle-end it is hinged；
The control module includes control panel, and control panel is equipped with one-chip computer module and power supply module, the monolithic
Machine module is connected with resistance-type bending sensor, for receiving the feedback signal of resistance-type bending sensor；The single-chip microcontroller mould
Block is connected with driving steering engine, the feedback signal control driving steering engine movement for resistance-type bending sensor based on the received.
In the above-mentioned underactuated manipulator with manpower synchronization control function, the resistance-type bending sensor is strip
The upper end of shape, resistance-type bending sensor is fixed at the finger tip of rubber gloves, the middle-end of resistance-type bending sensor and bottom end
It is fixed at the finger back of rubber gloves through rubber tube.
It is described to refer to root block close to palm pedestal in underactuated manipulator above-mentioned with manpower synchronization control function
One end is equipped with the first skewed slot, and block is equipped with the second skewed slot in one end close to finger root block in the finger, and the finger tip block refers to close
Middle piece one end is equipped with third skewed slot.
In underactuated manipulator above-mentioned with manpower synchronization control function, the back of the palm pedestal be set as with
The curved surface that human body the back of the hand matches.
It is equipped in underactuated manipulator above-mentioned with manpower synchronization control function, at the centre of the palm of the palm pedestal thin
Piece cooperatively forms containing cavities compatible with human hands between thin slice and palm pedestal.
In underactuated manipulator above-mentioned with manpower synchronization control function, the palm pedestal is equipped with first rotating shaft
Link block, it is described to refer to that root block is equipped with the second shaft link block cooperated with first rotating shaft link block, the end of the third connecting rod
Portion is equipped with third connecting rod round end, and the first rotating shaft link block, the second shaft link block and third connecting rod round end are through first rotating shaft
It is fixed.
In underactuated manipulator above-mentioned with manpower synchronization control function, the both ends of the first connecting rod are equipped with
One connecting rod chuck, the finger tip block are equipped with the first hinged block, the first connecting rod of first hinged block and first connecting rod one end
It is fixed between collet through the second shaft.
In underactuated manipulator above-mentioned with manpower synchronization control function, it is hinged to be equipped with second for block in the finger
Block, one end of the second connecting rod are equipped with second connecting rod collet, and the other end of the second connecting rod is equipped with second connecting rod round end, institute
State second connecting rod round end and the first connecting rod collet of the first connecting rod other end fixed through third shaft, the second connecting rod collet with
Second hinged block is fixed through the 4th shaft.
The prior art is compared, the invention has the following advantages that
1, the present invention can be led to by the way that wearable sensor glove ontology, underactuated manipulator ontology and control module is arranged
It crosses sensor glove ontology and makes corresponding crawl gesture, then the resistance-type bending sensor being arranged on sensor glove ontology is then right
The curvature of each finger in sensor glove ontology is monitored, and gives the curvature data information transfer of monitoring to control mould
Block, control module then control underactuated manipulator ontology according to the curvature data information received accordingly, so that
Underactuated manipulator ontology makes corresponding operation person by the crawl gesture made with sensor glove ontology, and the present invention can pass through
Sensor glove ontology carries out manpower synchronously control to underactuated manipulator ontology, so that underactuated manipulator ontology is accurately made
Crawl gesture identical with human body gesture, facilitates underactuated manipulator ontology accurately to grab the object being crawled.
Wherein, underactuatuated drive includes the first connecting rod of middle-end before being hinged on finger tip block back, the back of block in the finger
End is hinged with second connecting rod, and the top of the first connecting rod and the top of second connecting rod are hinged, the back end for referring to root block
End is equipped with third connecting rod, and the top of third connecting rod is hinged with fourth link, and the top of fourth link and the middle part of second connecting rod are cut with scissors
It connects；The back channel fixed frame of the palm pedestal is fixed with driving steering engine, and the output shaft of steering engine is driven to be connected with the 5th connecting rod, the
The top of five connecting rods and the middle-end of third connecting rod are hinged.In this body running of underactuated manipulator, control module is to driving steering engine
It is controlled, then steering engine is driven to drive third connecting rod rotation by the 5th connecting rod, third connecting rod then drives the by fourth link
Two link rotatables, the then second connecting rod rotated drive first connecting rod rotation, refer to root block to realize, refer to middle piece and turn of finger tip block
It is dynamic, to realize that driving finger makes bending gesture, to grab to object.The present invention is by a driving steering engine come to band
Gearing between dynamic connecting rod comes while driving refer to root block, refer to middle piece and finger tip block, so that driving finger makes bending gesture, have
Have the characteristics that structure is simple, synchronism is high.And the driving mechanism of conventional robot is to be driven by independent driving mechanism respectively
A articulations digitorum manus movement, the articulations digitorum manus moved independently of each other cooperatively form crawl gesture, so that it is real to need numerous driving mechanisms
Existing finger makes curved position, considerably increases production cost, and synchronism is not high, stability is poor.The present invention is more traditional
Manipulator is compared, and drives finger to be bent using follow-on underactuatuated drive, has synchronism good, stability is strong, out
The feature that power is big, structure is simple.
2, the resistance-type bending sensor in the present invention is strip, and the upper end of resistance-type bending sensor is fixed on rubber
At the finger tip of gloves, the middle-end of resistance-type bending sensor and bottom end are fixed at the finger back of rubber gloves through rubber tube, are played
The effect fixed to resistance-type bending sensor, the resistance-type bending sensor allow carry out in rubber tube
Sliding, the resistance-type bending sensor that avoids effectively is referring to run-off the straight displacement at back, and makes resistance-type crooked sensory
The gesture data and human hands gesture of device measurement are more accurate, make and people to be accurately controlled underactuated manipulator ontology
The identical crawl gesture of body hand gesture.
3, root block is equipped with the first skewed slot in one end close to palm pedestal to referring in the present invention, and block refers to close in the finger
One end of root block is equipped with the second skewed slot, and the finger tip block is equipped with third skewed slot in one end of the block in referring to, so that upper and lower finger joint
Cooperation, forms a V-groove, and at finger joint, there are the curved spaces, and driving finger is effectively bent, drive is effectively increased
Start to refer to the bending range of upper each articulations digitorum manus.
4, the palm pedestal in the present invention is equipped with first rotating shaft link block, and the finger root block is equipped with to be connected with first rotating shaft
The second shaft link block of block cooperation is connect, the end of the third connecting rod is equipped with third connecting rod round end, the first rotating shaft connection
Block, the second shaft link block and third connecting rod round end are fixed through first rotating shaft；The both ends of the first connecting rod are equipped with the first company
Bar cramp head, the finger tip block are equipped with the first hinged block, the first connecting rod collet of first hinged block and first connecting rod one end
Between fixed through the second shaft, block is equipped with the second hinged block in the finger, and one end of the second connecting rod is equipped with second connecting rod
Collet, the other end of the second connecting rod are equipped with second connecting rod round end, the second connecting rod round end and the first connecting rod other end
First connecting rod collet is fixed through third shaft, and the second connecting rod collet is fixed with the second hinged block through the 4th shaft.
Wherein, finger tip block, the second shaft, finger tip block and refer to and form a triangle between 3 points of articulated shaft between middle piece
Shape changes triangle as the first drive lacking structure, power is provided by the second shaft by first connecting rod, in finger tip block and finger
Articulated shaft between block is that axle center is rotated；
Wherein, the first drive link is formed between first connecting rod, the second shaft and third shaft, is finger tip by first connecting rod
Block provides power；
Block in its middle finger, finger tip block and refers to articulated shaft between middle piece, the 4th shaft, refers to middle piece and refers to the hinge between root block
The second drive link is constituted between spindle, second connecting rod is provided by the 4th shaft and power is provided, and with block in finger and is referred to
Articulated shaft between root block is that axle center is rotated, and power is by finger tip block and refers to that the articulated shaft between middle piece passes to finger tip block, together
When power passed to again by block in referring to and the articulated shaft for referring between root block and refer to root block；
Wherein second connecting rod, the 4th shaft, constitute the second drive lacking structure between third shaft three, power is by third shaft
First connecting rod is passed to, block in finger is passed to by the 4th shaft；
Wherein, refer to root block, refer to middle piece and refer to the articulated shaft between root block, third driving is constituted between first rotating shaft three and is connected
Bar is revolved by referring to middle piece by block in referring to and referring to that the articulated shaft between root block provides power by axle center of first rotating shaft
Turn；
Wherein, fourth link, the articulated shaft between fourth link and second connecting rod, between third connecting rod and fourth link
The 4th drive link is constituted between articulated shaft three, power passes to the second company by the articulated shaft between fourth link and second connecting rod
Bar；
Wherein, third connecting rod, first rotating shaft constitute the 5th between the articulated shaft three between third connecting rod and fourth link
Drive link, power pass to fourth link by the articulated shaft between third connecting rod and fourth link, are finally connected by driving steering engine
The 5th connecting rod and the middle-end of fourth link hingedly provide power for sleeve mechanism, the present invention by a driving steering engine come pair
The gearing between connecting rod is driven, comes while driving refer to root block, refer to middle piece and finger tip block, so that driving finger makes bending gesture,
It is simple with structure, synchronism is high, the strong feature of stability.
Detailed description of the invention
Fig. 1 is structural schematic diagram of the invention；
Fig. 2 is the structural schematic diagram for driving finger；
Fig. 3 is the back schematic diagram for driving finger；
Fig. 4 is the bending state figure for driving finger；
Fig. 5 is the structural schematic diagram of underactuated manipulator ontology；
Fig. 6 is the structural schematic diagram of palm pedestal；
The working principle diagram of Fig. 7 underactuated manipulator ontology；
Fig. 8 is the partial enlarged view in Fig. 3 at A.
1, sensor glove ontology；2, underactuated manipulator ontology；3, control module；4, rubber gloves；5, resistance-type is bent
Sensor；6, palm pedestal；7, finger is driven；8, underactuatuated drive；9, refer to root block；10, refer to middle piece；11, finger tip block；12,
One connecting rod；13, second connecting rod；14, third connecting rod；15, fourth link；16, fixed frame, 17, driving steering engine；18, the 5th connecting rod；
19, one-chip computer module；20, power supply module；21, control panel；22, rubber tube；23, the first skewed slot；24, the second skewed slot；25,
Third skewed slot；26, thin slice；27, first rotating shaft link block；28, the second shaft link block；29, third connecting rod round end；31, first
Shaft；32, first connecting rod collet；33, the first hinged block；34, the second shaft；35, the second hinged block；36, second connecting rod collet；
37, second connecting rod round end；38, third shaft；39, the 4th shaft；40, through-hole.
Specific embodiment
The present invention is further illustrated with reference to the accompanying drawings and examples, but be not intended as to the present invention limit according to
According to.
Embodiment: a kind of underactuated manipulator with manpower synchronization control function, as shown in attached drawing 1-8, including induction
Glove bulk 1, underactuated manipulator ontology 2 and control module 3；
The sensor glove ontology 1 includes that there are five the rubber gloves 4 of fingerstall, the back of each fingerstall of rubber gloves 4 for band
Face is respectively and fixedly provided with resistance-type bending sensor 5；The underactuated manipulator ontology 2 includes palm pedestal 6, is connected on palm pedestal 6
It connects there are five finger 7 is driven, underactuatuated drive 8 is equipped between each driving finger 7 and palm pedestal 6；The driving finger 7 wraps
The finger root block 9 being flexibly connected with palm pedestal 6 is included, refers to that the front end of root block 9 is hinged with block 10 in finger, refers to that middle piece 10 of front end is hinged
There is finger tip block 11；The present invention can carry out manpower synchronously control to underactuated manipulator ontology 2 by sensor glove ontology 1, so that
Underactuated manipulator ontology 2 accurately makes crawl gesture identical with human body gesture, facilitates 2 pairs of quilts of underactuated manipulator ontology
The object of crawl is accurately grabbed.
The underactuatuated drive 8 includes the first connecting rod 12 for being hinged on 11 back of finger tip block, the back of block 10 in the finger
End is hinged with second connecting rod 13, refers to that middle piece 10 of rear ends refer to refer to middle piece 10 one end close to finger root block 9；Described
The top of one connecting rod 12 and the top of second connecting rod 13 are hinged, and the rear ends for referring to root block 9 are equipped with third connecting rod 14, wherein
Refer to that the rear ends of root block 9 refer to refer to root block close to one end of palm pedestal；The top of third connecting rod 14 is hinged with the 4th company
Bar 15, the top of fourth link 15 and the middle part of second connecting rod 13 are hinged；The back channel fixed frame 16 of the palm pedestal 6 is fixed
There is driving steering engine 17, common micromotor, such as stepper motor can be used in driving steering engine 17；Drive the output of steering engine 17
Axis connection has the 5th connecting rod 18, and the top of the 5th connecting rod 18 and the middle-end of third connecting rod 14 are hinged；In underactuated manipulator ontology 2
When work, 3 pairs of driving steering engines 17 of control module are controlled, then steering engine 17 is driven to drive third connecting rod 14 by the 5th connecting rod 18
Rotation, third connecting rod 14 then drive second connecting rod 13 to rotate by fourth link 15, then the second connecting rod 13 rotated drives first
Connecting rod 12 rotates, and refers to root block 9 to realize, refers to the rotation of middle piece 10 and finger tip block 11, to realize that driving finger 7 makes bending
Gesture, to be grabbed to object.The present invention drives steering engine 17 come the gearing to driving between connecting rod by one, carrys out band simultaneously
It is dynamic to refer to root block 9, refer to middle piece 10 and finger tip block 11, so that driving finger 7 makes bending gesture, have that structure is simple, synchronism is high
The characteristics of.And the driving mechanism of conventional robot is that each articulations digitorum manus is driven to move by independent driving mechanism, mutually solely
The articulations digitorum manus of vertical movement cooperatively forms crawl gesture, so that need numerous driving mechanisms to realize that finger makes curved position,
Production cost is considerably increased, and synchronism is not high, stability is poor.The more traditional manipulator of the present invention is compared, using improvement
The underactuatuated drive 8 of type drives finger 7 to be bent, and has synchronism good, and stability is strong, and power output is big, structure is simply special
Point.
The control module 3 includes control panel 21, and control panel 21 is equipped with one-chip computer module 19 and power supply module 20,
The one-chip computer module 19 is connected with resistance-type bending sensor 5, for receiving the feedback signal of resistance-type bending sensor 5；
The one-chip computer module 19 is connected with driving steering engine 17, the feedback signal control for resistance-type bending sensor 5 based on the received
System driving steering engine 17 acts, and wherein power supply module 20 is used to pass through electric energy.The present invention is by being arranged wearable induction hand
Ontology 1, underactuated manipulator ontology 2 and control module 3 are covered, corresponding crawl gesture is made by sensor glove ontology 1, then is set
Set the resistance-type bending sensor 5 on sensor glove ontology 1 then to the curvature of each finger in sensor glove ontology 1 into
Row monitoring, and by the curvature data information transfer of monitoring to control module 3, control module 3 is then according to the curvature received
Data information controls underactuated manipulator ontology 2 accordingly, so that underactuated manipulator ontology 2 makes corresponding operation
Person passes through the crawl gesture made with sensor glove ontology 1.
The resistance-type bending sensor 5 is strip, and the upper end of resistance-type bending sensor 5 is fixed on rubber gloves 4
Finger tip at, the middle-end of resistance-type bending sensor 5 and bottom end are fixed at the finger back of rubber gloves 4 through rubber tube 22, are played
The effect fixed to resistance-type bending sensor 5, the resistance-type bending sensor 5 allow is in rubber tube 22
Suitably slided.The resistance-type bending sensor 5 that avoids effectively is referring to run-off the straight displacement at back, and makes resistance-type
The gesture data and human hands gesture that bending sensor 5 measures are more accurate, to be accurately controlled underactuated manipulator sheet
Body 2 makes crawl gesture identical with human hands gesture.
Described to refer to that root block 9 is equipped with the first skewed slot 23 in one end close to palm pedestal 6, block 10 is close to finger root in the finger
One end of block 9 is equipped with the second skewed slot 24, and the finger tip block 11 is equipped with third skewed slot 25 in one end of the block 10 in referring to, so that on
Lower finger joint cooperation, forms a V-groove, and at finger joint, there are the curved spaces, driving finger 7 is effectively bent, effectively
Increase the bending range of each articulations digitorum manus on driving finger 7.
The back of the palm pedestal 6 is set as the curved surface to match with human body the back of the hand.
As shown in fig. 6, being equipped with thin slice 26 at the centre of the palm of the palm pedestal 6, cooperate shape between thin slice 26 and palm pedestal 6
At containing cavities compatible with human hands.
As shown in Fig. 2, Fig. 3, Fig. 4 and Fig. 5, the palm pedestal 6 is equipped with first rotating shaft link block 27, the finger root block
9 are equipped with the second shaft link block 28 cooperated with first rotating shaft link block 27, and the end of the third connecting rod 14 is equipped with third
Connecting rod round end 29, the first rotating shaft link block 27, the second shaft link block 28 and third connecting rod round end 29 are through first rotating shaft 31
It is fixed；The both ends of the first connecting rod 12 are equipped with first connecting rod collet 32, and the finger tip block 11 is equipped with the first hinged block 33,
It is fixed through the second shaft 34 between the first connecting rod collet 32 of 12 one end of first hinged block 33 and first connecting rod；In the finger
Block 10 is equipped with the second hinged block 35, and one end of the second connecting rod 13 is equipped with second connecting rod collet 36, the second connecting rod 13
The other end be equipped with second connecting rod round end 37, the first connecting rod collet of the second connecting rod round end 37 and 12 other end of first connecting rod
32 is fixed through third shaft 38, as shown in figure 8, the second connecting rod round end 37 is equipped with circular through-hole 40, the third turns
Axis 38 is threaded through in through-hole 40, and the both ends of third shaft 38 are connect with second connecting rod round end 38, wherein third shaft 38 and logical
There are cushion space (i.e. between the inner wall of third shaft 38 to second connecting rod round end 37) between hole 40, enable third shaft 38
It is enough to be moved in through-hole 40, when driving the starting of steering engine 17 that underactuatuated drive 8 is driven to move, because of third shaft 38 and through-hole 40
Between there are cushion spaces so that third shaft 38 moves in through-hole 40, drive steering engine 17 to belong to No Load Start state at this time,
Relative to the driving load starting of steering engine 17, driving 17 No Load Start of steering engine significantly reduces the startup power of driving steering engine 17,
To reduce starting up's loss of driving steering engine 17, the service life of driving steering engine 17 is extended.In addition, in second connecting rod
13 when driving first connecting rods 12 to move, and third shaft 38 and the second connecting rod round end 37 of movement collide, to increase the
Two connecting rods 13 effectively avoid because of block 10 in referring to the instantaneous force of first connecting rod 12 convenient for driving finger tip block 11 to move
Hinged place accumulation with finger tip block 11 has the foreign matters such as dust to contradict, so that finger tip block 11 rotates the generation of difficult phenomenon.This
It is carried out hingedly between first connecting rod 12 in invention and second connecting rod 13 using such linkwork, so that driving steering engine 17 belongs to
No Load Start state significantly reduces starting up's loss of driving steering engine 17, extends the service life of driving steering engine 17,
It is solid through the 4th shaft 39 that the movement of finger tip block 11, the second connecting rod collet 36 and the second hinged block 35 are greatly facilitated simultaneously
It is fixed.It wherein can also be used between third connecting rod 14 and fourth link 15 identical hinged between first connecting rod 12 and second connecting rod 13
Structure can obtain identical effect.
Wherein, finger tip block 11, the second shaft 34, finger tip block 11 and refer to and form one between 3 points of articulated shaft between middle piece 10
A triangle, changing triangle is the first drive lacking structure, power is provided by the second shaft 34 by first connecting rod 12, to refer to
Sharp block 11 and refer to that articulated shaft between middle piece 10 is that axle center is rotated；
Wherein, the first drive link is formed between first connecting rod 12, the second shaft 34 and third shaft 38, by first connecting rod
12 provide power for finger tip block 11；
Block 10 in its middle finger, finger tip block 11 and refer to articulated shaft between middle piece 10, the 4th shaft 39, refer to middle piece 10 with refer to root
The second drive link is constituted between articulated shaft between block 9, provides power by the 4th shaft 39 by second connecting rod 13,
Using block 10 in referring to and refer to that the articulated shaft between root block 9 is rotated as axle center, power is by finger tip block 11 and refers to the hinge between middle piece 10
Spindle passes to finger tip block 11, while power by block 10 in referring to and refers to that the articulated shaft between root block 9 passes to finger root block 9 again；
Wherein second connecting rod 13, the 4th shaft 39, constitute the second drive lacking structure between 38 three of third shaft, power is by
Three shafts 38 pass to first connecting rod 12, pass to block 10 in finger by the 4th shaft 39；
Wherein, refer to root block 9, refer to middle piece 10 and refer to the articulated shaft between root block 9, constitute third between 31 three of first rotating shaft
Drive link, by referring to middle piece 10 by block 10 in referring to and referring to that the articulated shaft between root block 9 provides power, with first rotating shaft 31
It is rotated for axle center；
Wherein, fourth link 15, the articulated shaft between fourth link 15 and second connecting rod 13, third connecting rod 14 and the 4th connect
The 4th drive link is constituted between articulated shaft three between bar 15, power is by hinged between fourth link 15 and second connecting rod 13
Axis passes to second connecting rod 13；
Wherein, third connecting rod 14, first rotating shaft 31, between the articulated shaft three between third connecting rod 14 and fourth link 15
The 5th drive link is constituted, power passes to fourth link 15 by the articulated shaft between third connecting rod 14 and fourth link 15, finally
The 5th connecting rod 18 connected by driving steering engine 17 hingedly provides power with the middle-end of fourth link 15 for sleeve mechanism, the present invention
It drives steering engine 17 come the gearing to driving between connecting rod by one, comes while driving refer to root block 9, refer to middle piece 10 and finger tip block
11, so that driving finger 7 makes bending gesture, have the characteristics that structure is simple, synchronism is high.
The working principle of driving finger 7 in underactuated manipulator ontology 2 is as shown in fig. 7, with three joint under-actuated fingers
For closing sequence when grabbing object, the basic working principle of under-actuated finger crawl is disclosed:
A, finger is in original state, without active force, refers to root joint to object proximity.
B, when referring to piece-root grafting touching object, effect of contraction is generated.
C, refer to that neutralizing finger tip joint continues close to object.
D, refer to that middle joint refers to face and object contact, and generate effect of contraction.
E, finger tip joint refers to that face is all added on object with object contact, the active force of driving element completely.When driving is continuous
When rotation, finger is closed completely constrained body, generates grasping active force.
It also needs to explain in above-mentioned principle, when finger is in original state, refers to that root joint is first moved without referring to reach
The purpose in sharp joint can explain there is frictional force certain and appropriate in each joint with frictional force, so that finger tip joint
Movement needs to overcome finger tip joint-friction power, refers to middle joint-friction power, refers to root joint-friction power, and refers to middle joint motions needs gram
Clothes refer to middle joint-friction power, refer to root joint-friction power, and finally referring to that root joint needs to move only needs visitor to overcome finger root joint-friction power.
Therefore refer to that root joint-friction power is minimum, it moves at first during exercise, which includes clamping movement and release movement；Similarly, in referring to
Second, joint is moved；Similarly, finger tip joint finally moves.After explaining frictional force, also need to determine that single finger joint must have
Range, otherwise causes only one finger joint to move, other finger joints do not move；When the finger joint reaches range, generate
Constraint reduces one degree of freedom, moves next finger joint.Its freedom calculation sees below.
The finger of the underactuated manipulator conceptual model of this paper, each 3 section of finger, each finger Three Degree Of Freedom, wherein right
In multi-joint under-actuated finger, its freedom calculation are as follows: assuming that the under-actuated finger with n joint, then it is by n-1
What a quadrangle was constituted, each quadrangle joint is that have the quadrangle of a bar and adjacent segment be public to three connecting rods compositions
, first joint has more 1 connecting rod, adds 2 connecting rods of pusher portion, connecting rod number in total is 3 (n-1)+3 triangle here
Shape regards rigid structure as, is calculated as a connecting rod, and three connecting rods in each joint have 4 low pairs, P=4 (n-1), in addition pushing away
4 low pairs of bar part, the sum 4 (n-1)+4 of low pair.So, the freedom degree of finger is n:
Dof=3m-2PL-PH=3 (3 (n-1)+3) -2 × (4 (n-1)+4)=9n-8n=n
So freedom degree 3, the movement of finger is not to be completely fixed, and is only being rubbed when finger is touching object at the beginning
Under the reason of wiping power can each finger joint successively move, if but finger joint stroke not completely and touching object will make this finger joint stop fortune
It is dynamic, constraint is generated, one degree of freedom is reduced, next finger joint continues to move；Freedom degree is 0 when finger grips object, therefore
It can grip objects.
Working principle: the present invention is by being arranged wearable sensor glove ontology 1, underactuated manipulator ontology 2 and control
Module 3 makes corresponding crawl gesture by sensor glove ontology 1, then the resistance-type bending on sensor glove ontology 1 is arranged in
Sensor 5 is then monitored the curvature of each finger in sensor glove ontology 1, and by the curvature data information of monitoring
Control module 3 is passed to, control module 3 then carries out underactuated manipulator ontology 2 according to the curvature data information received
Corresponding control, so that underactuated manipulator ontology 2, which makes corresponding operation person, passes through the crawl made with sensor glove ontology 1
Gesture, when underactuated manipulator ontology 2 works, 3 pairs of driving steering engines of control module are controlled, then steering engine 17 is driven to pass through the
Five connecting rods 18 drive third connecting rod 14 to rotate, and third connecting rod 14 then drives second connecting rod 13 to rotate by fourth link 15, then turn
Dynamic second connecting rod 13 drives first connecting rod 12 to rotate, thus realize the rotation for referring to root block 9, referring to middle piece 10 and finger tip block 11, from
And realize that driving finger 7 makes bending gesture, to be grabbed to object.
Claims (8)
1. a kind of underactuated manipulator with manpower synchronization control function, it is characterised in that: including sensor glove ontology (1),
Underactuated manipulator ontology (2) and control module (3)；
The sensor glove ontology (1) includes the rubber gloves (4) of the fingerstall with there are five, each fingerstall of rubber gloves (4)
The back side is respectively and fixedly provided with resistance-type bending sensor (5)；The underactuated manipulator ontology (2) includes palm pedestal (6), palm base
Connection is equipped with underactuatuated drive there are five finger (7) are driven on seat (6) between each driving finger (7) and palm pedestal (6)
(8)；Driving finger (7) includes the finger root block (9) being flexibly connected with palm pedestal (6), refers to that the front end of root block (9) is hinged with
Block (10) in finger refer to that the front end of middle piece (10) is hinged with finger tip block (11)；
The underactuatuated drive (8) includes the first connecting rod (12) for being hinged on finger tip block (11) back, block (10) in the finger
Rear ends are hinged with second connecting rod (13), and the top of the first connecting rod (12) and the top of second connecting rod (13) are hinged, institute
It states and refers to that the rear ends of root block (9) are hinged with third connecting rod (14), the top of third connecting rod (14) is hinged with fourth link (15),
The top of fourth link (15) and the middle part of second connecting rod (13) are hinged；The back channel fixed frame (16) of the palm pedestal (6)
It is fixed with driving steering engine (17), the output shaft of driving steering engine (17) is connected with the 5th connecting rod (18), the top of the 5th connecting rod (18)
It is hinged with the middle-end of third connecting rod (14)；
The control module (3) includes control panel (21), and control panel (21) is equipped with one-chip computer module (19) and power supply mould
Block (20), the one-chip computer module (19) is connected with resistance-type bending sensor (5), for receiving resistance-type bending sensor
(5) feedback signal；The one-chip computer module (19) is connected with driving steering engine (17), passes for the bending of resistance-type based on the received
Feedback signal control driving steering engine (17) movement of sensor (5).
2. the underactuated manipulator according to claim 1 with manpower synchronization control function, it is characterised in that: the electricity
Resistive bending sensor (5) is strip, and the upper end of resistance-type bending sensor (5) is fixed at the finger tip of rubber gloves (4),
The middle-end of resistance-type bending sensor (5) and bottom end are fixed at the finger back of rubber gloves (4) through rubber tube (22).
3. the underactuated manipulator according to claim 1 with manpower synchronization control function, it is characterised in that: the finger
Root block (9) is equipped with the first skewed slot (23) in one end close to palm pedestal (6), and block (10) is close to finger root block (9) in the finger
One end be equipped with the second skewed slot (24), the finger tip block (11) close to refer in block (10) one end be equipped with third skewed slot (25).
4. the underactuated manipulator according to claim 1 with manpower synchronization control function, it is characterised in that: the hand
The back of palm pedestal (6) is set as the curved surface to match with human body the back of the hand.
5. the underactuated manipulator according to claim 1 with manpower synchronization control function, it is characterised in that: the hand
It slaps at the centre of the palm of pedestal (6) and is equipped with thin slice (26), cooperatively form between thin slice (26) and palm pedestal (6) and mutually fitted with human hands
The containing cavities matched.
6. the underactuated manipulator according to claim 1 with manpower synchronization control function, it is characterised in that: the hand
It slaps pedestal (6) and is equipped with first rotating shaft link block (27), the finger root block (9) is equipped with to be cooperated with first rotating shaft link block (27)
The second shaft link block (28), the end of the third connecting rod (14) is equipped with third connecting rod round end (29), the first rotating shaft
Link block (27), the second shaft link block (28) and third connecting rod round end (29) are fixed through first rotating shaft (31).
7. the underactuated manipulator according to claim 6 with manpower synchronization control function, it is characterised in that: described
The both ends of one connecting rod (12) are equipped with first connecting rod collet (32), and the finger tip block (11) is equipped with the first hinged block (33), institute
It states fixed through the second shaft (34) between the first hinged block (33) and the first connecting rod collet (32) of first connecting rod (12) one end.
8. the underactuated manipulator according to claim 7 with manpower synchronization control function, it is characterised in that: the finger
It is equipped with the second hinged block (35) for middle piece (10), one end of the second connecting rod (13) is equipped with second connecting rod collet (36), described
The other end of second connecting rod (13) is equipped with second connecting rod round end (37), and the second connecting rod round end (37) and first connecting rod (12) are another
The first connecting rod collet (32) of one end is fixed through third shaft (38), the second connecting rod collet (36) and the second hinged block (35)
It is fixed through the 4th shaft (39).
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| CN112706150A (en) * | 2020-12-17 | 2021-04-27 | 武汉大学 | Wearable external limb auxiliary grabbing device and control method |
| CN114083544A (en) * | 2022-01-21 | 2022-02-25 | 成都市皓煊光电新材料科技研发中心有限公司 | Method and device for controlling movement of hand-shaped equipment, hand-shaped equipment and storage medium |
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