CN110328679A - A kind of gas drive software finger of embedded vision - Google Patents
A kind of gas drive software finger of embedded vision Download PDFInfo
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- CN110328679A CN110328679A CN201910279557.6A CN201910279557A CN110328679A CN 110328679 A CN110328679 A CN 110328679A CN 201910279557 A CN201910279557 A CN 201910279557A CN 110328679 A CN110328679 A CN 110328679A
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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
- B25J15/0023—Gripper surfaces directly activated by a fluid
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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
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/12—Gripping heads and other end effectors having finger members with flexible finger members
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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
- B25J19/06—Safety devices
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
A kind of gas drive software finger of embedded vision proposed by the present invention, belongs to soft robot technical field, including the finger ontology being mounted on sealing device；Finger ontology is made of shell with the flexible cavity for being contained in interior of shell, finger ontology is under straight configuration, inner surface of the flexible cavity upper side wall along finger length direction is an arc surface to upside protrusion, flexible cavity is divided into three regions along finger length direction, the rgb value in adjacent two region is different；Tooth form airtight construction is equipped with inside one end of sealing device, the camera coaxial with flexible cavity is equipped with inside the other end of sealing device, a cavity being connected to flexible cavity is formed between finger butt and the camera of finger ontology, is fixed with pneumatic operated valve in the sealing device above cavity.Visual perception is applied to software finger by the present invention, realizes the identification of bending direction and the measurement of curvature, has many advantages, such as that leakproofness is high, the visual field is wide, recognition accuracy is high.
Description
Technical field
The present invention relates to a kind of gas drive software fingers of embedded vision, belong to soft robot technical field.
Background technique
In some Special use environment, it is desirable that operation equipment have higher flexibility, absolute safety, preferably
Man-machine interaction etc., traditional Rigid Manipulators are no longer satisfied these requirements.And compared to the manipulator of rigidity, software machine
Tool hand has due to having the soft characteristic adapted in the operation of frangible fragile article and carry out with people in terms of
Extremely significant advantage.
In order to preferably promote the performance of software finger, sensor in the hand is particularly important.However, due to software
Hand deformation is big, and traditional sensing device is difficult to be fitted close or be easily damaged with finger.Therefore, it is necessary to one kind can adapt to software
The flexible sensor of hand bending and tensile properties.In order to control the posture of software hand, sensor needs the curved of real-time measurement finger
Curvature.Currently, most common sensor is electric resistance sensor on software finger.Electric resistance sensor is by resistance with itself bending change
Material be made.Electric resistance sensor adheres to or is embedded into software finger.When software finger bends, electric resistance sensor
Resistance value changes therewith, obtains the bending degree of finger so as to approximation.It the advantage is that with preferable stability
And repeatability, the performance of sensor will not be influenced because of multiple use.Another common sensor is Fibre Optical Sensor
Device.Optical fiber is embedded in software hand, and when flexible optical fibre sensor bends, the dissipation degree of interior lights be will increase, sensor
The intensity for the optical signal that the other end receives can then weaken.The degree weakened by the sensor according to light signal strength, then can be with
Obtain the degree of fibre-optical bending.It is advantageous that lightray propagation speed is fast and very sensitive, can accurately perceive in real time
The bending degree of soft robot finger.Simultaneously because optical fiber is small in size, fibre optical sensor is easy and all kinds of software finger knots
It closes, the functional attributes without influencing software finger script.
But the sensor has a same limitation, i.e., its transducing signal in one dimension, each moment institute
Only one numerical value of the signal of output.Therefore, the sensor is merely able to measure the absolute of the soft robot finger where it
Bending degree, and other status informations of finger cannot be obtained.
In order to overcome the defect of the sensor, visual sensor is come into being.Visual sensor has broader sky
Mesopic vision and resolution ratio can obtain more accurate multidimensional information.Existing visual sensor is by transparent elastomer, acrylic
Plate, LED light and camera are constituted；Wherein, there is label lattice array on elastomer, pass through the identification variation of mark point and reflecting for texture
It penetrates, contact force can be measured and contacts the hardness of object and the texture of identification object.But this visual sensor can only fix
In the finger tip of manipulator, sensing region is only limitted to finger tip.Further, since the rigidity of software finger can not carry such vision at present
Sensor, therefore, such visual sensor are chiefly used on rigid finger, and can not be mounted on software finger.
Summary of the invention
Present invention aim to address various dimensions curvature information can not be obtained from software finger, one kind is proposed
The gas drive software finger of embedded vision.In the case where not changing software hand flexibility and pneumatic function, the available bending side of software hand
To with the multidimensional information such as bending degree, to realize the identification of software hand posture.
The technical solution adopted by the present invention to solve the above problem is as follows:
A kind of gas drive software finger of embedded vision, which is characterized in that including the finger ontology being mounted on sealing device；
The finger ontology is made of shell with the flexible cavity for being contained in the interior of shell, the inner surface and elastic cavity of the shell
The outer surface of body is bonded completely, is equipped at intervals with multiple groups groove array at the surface of the shell upper side wall；At the finger ontology
Under straight configuration, inner surface of the flexible cavity upper side wall along finger length direction is an arc surface to upside protrusion,
The flexible cavity is divided into three regions along finger length direction, the rgb value in adjacent two region is different；The sealing device
It is equipped with tooth form airtight construction inside one end, makes finger ontology by the way that the finger butt of finger ontology is passed through the tooth form airtight construction
It is mounted on sealing device, the camera coaxial with flexible cavity is equipped with inside the other end of the sealing device, in finger sheet
A cavity being connected to the flexible cavity, the sealing device above the cavity are formed between finger butt and the camera of body
It is inside fixed with pneumatic operated valve, is connected by the pneumatic operated valve with the tracheae and air pump being located at outside sealing device.
Further, the flexible cavity upper side wall is as follows along the determination method of finger length direction inner surface configuration:
Enable the flexible cavity upper side wall along the projection line of the inner surface on finger middle vertical plane in finger length direction by line
Section AB, BC, CD composition, point A, B, C, D respectively correspond the endpoint in each region in flexible cavity, and wherein A point is close to finger root；It enables
Point D is E in the subpoint of camera optical axis；
The position of set point A and point B, and set following known parameters: the projection of line segment AB, BC, CD in finger middle vertical plane
Length is respectively a, b, c；Point A is equal to the object distance ν of camera to the horizontal distance of camera optical screen；Point A is to camera focusing surface
Horizontal distance be equal to camera focal length f；The vertical range of point A and camera optical axis is Δ lA, it is taken as the mirror of camera
The half of area of bed；Vertical range between point A and point B is Δ lB, no more than the half of the Lens of camera；Line segment BC
Angle between camera optical axis is θBC, take 1 °~2 °；
According to geometry and optical projection relationship, following formula is obtained:
ΔlC=Δ lB-btanθBC
ΔlD=btan θCD-ΔlC
In formula,
ΔlC、ΔlDVertical range between respectively point A and point C, D；
θCDFor the angle between line segment CD and camera optical axis；
Δdb、Δdc、ΔddRespectively projected length of line segment BC, CD, the DE on camera optical screen, and meet Δ dc=η
Δdb, η is Δ dcWith Δ dbProportionality coefficient, η ∈ (0,1]；
Simultaneous solution is above-mentioned various, acquires θCD、ΔlD, η, the position of flexible cavity upper side wall endpoint C, D is obtained with this, most
Terminal A~D is fitted afterwards to obtain smooth flexible cavity upper side wall arc surface.
The features of the present invention and the utility model has the advantages that
The gas drive software finger of embedded vision proposed by the present invention, structure is simple, at low cost.Visual sensor is applied to
Software finger, elastic inner cavity are both that air cavity also together forms visual sensor with camera, are both able to satisfy flexible sensor
The flexible attribute with software hand is combined with software palmistry, is also able to satisfy the pneumatic actuation of software hand.Elastic inner cavity uses semiellipse
Shape, the radian of cavity not only change the ductility of software hand, also expand the inner cavity visual field and optimize imaging scale.In elasticity
Chamber is divided into different color regions, and when software hand is bent, the variation of regions of different colours is obvious, is conducive to camera and captures, and
By carrying out the available bending features information abundant of subsequent processing (including bending direction and bending journey to the image of acquisition
Degree), overcome the defect that the prior art is only capable of the acquisition single dimensional information of software finger.The airtight knot of thread form is set in sealing device
Structure, pop-up when can prevent software finger from inflating, ensure that the structural stability of this software finger.
Detailed description of the invention
Fig. 1 is cross-sectional view of the gas drive software finger along its middle vertical plane of the embodiment of the present invention；
Fig. 2 is the top view of embodiment illustrated in fig. 1；
Fig. 3 is the front view of sealing device in embodiment illustrated in fig. 1；
Fig. 4 be embodiment illustrated in fig. 1 camera to elastic inner cavity carry out Image Acquisition when image-forming principle schematic diagram；
Fig. 5 is the image acquired when elastic inner cavity bends in embodiment illustrated in fig. 1, and figure (a) to (d) is successively finger
From stretching complete curved image change；
Fig. 6 is the effect picture that Fig. 5 shown figures pass through image procossing；
Fig. 1 is into Fig. 3:
1-shell, 2-flexible cavities, 21-arc surfaces, 3-groove arrays, 4-thread form airtight constructions, 5-pneumatic operated valves,
6-cameras, 7-sealing devices, 8-cavitys.
Specific embodiment
Specific structure of the invention, working principle content are described in further detail with reference to the accompanying drawings and embodiments.For just
In description, upside will be known as towards dorsal side, downside will be known as towards centre of the palm side.
A kind of a kind of embodiment of the gas drive software finger of embedded vision proposed by the present invention is as shown in Figure 1, Figure 2 and Figure 3,
Including the finger ontology being mounted on sealing device 7；The finger ontology is by shell 1 and the elastic cavity being contained in inside shell 1
Body 2 forms, and the inner surface of shell 1 is bonded completely with the outer surface of flexible cavity 2, is equipped at intervals at the surface of 1 upper side wall of shell
Multiple groups groove array 3；Finger ontology is under straight configuration, and inner surface of 2 upper side wall of flexible cavity along finger length direction is
One to upside protrusion arc surface 21, flexible cavity 2 is divided for three regions, the RGB in adjacent two region along finger length direction
Value is different；Tooth form airtight construction 4 is equipped with inside one end of sealing device 7, by the way that the finger butt of finger ontology is passed through the tooth form
Airtight construction 4 is mounted in finger ontology on sealing device 7, is equipped with inside the other end of sealing device 7 total with flexible cavity 2
The camera 6 of axis, a cavity 8 is formed between the finger butt and camera 6 of finger ontology, and (camera lens of camera 6 can protrude into
In the cavity), and the cavity 8 is connected to flexible cavity 2, is fixed with pneumatic operated valve 5 in the sealing device 7 above cavity 8, is passed through
The pneumatic operated valve is connected with the tracheae and air pump (tracheae and air pump do not illustrate in figure) being located at outside sealing device 7, leads to
It crosses the groove array 3 on 1 surface of shell and controls the air pressure of air pump to adjust the bending of finger ontology and stretch.
The specific implementation and function declaration of each building block of the present embodiment are as follows:
Sealing device 7 is tied through 3D printing into integrated molding as the support construction of this software finger by resin material
Structure, the length of the sealing device of the present embodiment are respectively 30mm, 25mm, 30mm.Tooth inside 7 one end of sealing device
Type airtight construction 4 is that (the present embodiment uses 3 groups of spaced strip knots for continuous setting or the spaced strip structure of multiple groups
Structure), strip structure is equipped with the through-hole passed through for finger ontology, makes finger ontology one end build-in by tooth form airtight construction 4
Finger ontology is prevented to pop up from sealing device 7 in sealing device 7, and in gas replenishment process.
For camera 6 using conventional pin endoscope camera head, the camera shooting area of bed is small not to influence the whole of software finger
Body structure and performance, while having the imaging requirements for meeting 200w pixel.In 6 embedding sealing device 7 of camera, when necessary, it can incite somebody to action
The camera lens of camera 6 protrudes into the cavity 8 of sealing device 7.Camera 6 and elastic 2 common optical axis of intracoelomic cavity are arranged, and can acquire complete
The inner cavity image in the visual field.The size of flexible cavity 2 in image quality and finger ontology should be combined when choosing the focal length of camera 6,
The focal length of the present embodiment camera 6 is 4cm, and 4-10cm image quality highest.
In finger ontology, shell 1 and flexible cavity 2 are all made of conventional silastic material and are made, but according to the two
Different function, configuration proportion and auxiliary ingredients are all different.Shell 1 can be bent and have certain support to flexible cavity 2
Effect, the material hardness of silastic material resilience in comparison intracoelomic cavity 2 are slightly higher；The shape of shell 1 is similar to finger, in shell 1
Multiple groups (the present embodiment is equipped with 3 groups, can select other group of number according to actual needs) groove battle array is equipped at intervals on the surface of upper side wall
Column 3, every group of groove array 3 is made of multiple grooves laid perpendicular to finger length direction respectively, due to the interior table of shell 1
Face and the outer surface of flexible cavity 2 are in close contact, and inner surface of 2 upper side wall of flexible cavity along finger length direction is a circular arc
Face, therefore thickness of 2 upper side wall of flexible cavity along finger length direction is even variation, is passed through after being inflated to finger ontology
The auxiliary of groove array 3 bends first in finger body thickness thinnest part, i.e., changes finger ontology by groove array 3
Ductility.The shell 1 of the present embodiment uses silica gel solution: curing agent is mixed according to the ratio of mass ratio 1.7:1 (to be needed
Illustrate, in addition to the material defined by the present embodiment, the silica gel material equally applicable using the silastic material of other ratios
It is specific proportion be not belonging to protection category of the present invention).Flexible cavity 2 is readily bent, silastic material need with soft,
The cross section of high duplication, certain translucency and adhesion, 2 inner surface of flexible cavity is in semi-oval, and at finger ontology
Under straight configuration, inner surface of 2 upper side wall of flexible cavity along finger length direction is an arc surface 21 to upside protrusion；It removes
Except this, by adding the powder of different colours, it is sequentially prepared the regions of different colours of elastic intracoelomic cavity 2.The present embodiment elasticity
Cavity 2 uses silica gel solution: curing agent is mixed according to the ratio of mass ratio 9:1 (it should be noted that except the present embodiment institute
Equally applicable using the silastic material of other ratios outside the material of restriction, the specific proportion of the silica gel material is not belonging to this hair
Bright protection category), flexible cavity 2 is divided into 3 regions by finger root to finger tip direction, be followed successively by red area, blue region,
Yellow area.The length of elastic inner cavity 2 is that (the present embodiment uses 10cm to 10~15cm, and the image quality for meeting camera is wanted
Ask), for red area, blue and yellow area are even more important to being imaged, therefore set red area length as 4cm,
Blue and yellow area length are respectively 3cm.By the design of arc surface in elastic inner cavity 2, the shooting view of camera 6 is increased
Open country, meanwhile, it can be changed by the relative position of elastic inner cavity regions of different colours to react the attitudes vibration of finger ontology generation；
Compared to absolute bending information this defect that traditional soft body mobile phone is only capable of acquisition finger, the software finger of the present embodiment can be with
The multidimensional information such as bending direction and the bending degree of software finger are obtained, can identify the posture of software finger more fully hereinafter.
Referring to fig. 4, image-forming principle when carrying out Image Acquisition for 6 pairs of the camera of the embodiment of the present invention elastic inner cavities 2 (needs
It is noted that for convenient for drawing, in Fig. 4, the protrusion direction of elastic 2 arc surface of inner cavity is changed to it is downwardly convex, with practical phase
Instead), 2 upper side wall of the present embodiment flexible cavity is as follows along the determination method of finger length direction inner surface configuration:
Enable 2 upper side wall of flexible cavity along the projection line of the inner surface on finger middle vertical plane in finger length direction by line segment
AB, BC, CD composition, point A, B, C, D respectively correspond the endpoint of each color region in flexible cavity 2, and wherein A point is close to finger root
Portion；Order point D is E in the subpoint of 6 optical axis of camera；
The position of set point A and point B, and set following known parameters: the projection of line segment AB, BC, CD in finger middle vertical plane
Length is respectively a, b, c；Point A is equal to the object distance ν of camera 6 to the horizontal distance of 6 optical screen of camera；Point A to camera 6 focus
The horizontal distance in face is equal to the focal length f of camera 6；The vertical range of point A and 6 optical axis of camera is Δ lA, it is taken as camera
Lens half, the present embodiment 4.1mm；Vertical range between point A and point B is Δ lB, no more than camera 6
The half of Lens, generally takes 1~2mm；Angle between 6 optical axis of line segment BC and camera is θBC, generally take 1 °~2 °；
According to geometry and optical projection relationship, following formula is obtained:
ΔlC=Δ lB-btanθBC
ΔlD=btan θCD-ΔlC
In formula,
ΔlC、ΔlDVertical range between respectively point A and point C, D；
θCDFor the angle between 6 optical axis of line segment CD and camera；
Δdb、Δdc、ΔddProjected length of respectively line segment BC, CD, the DE on 6 optical screen of camera, and meet Δ dc=
ηΔdb, η is Δ dcWith Δ dbProportionality coefficient, η ∈ (0,1], η is bigger, and image quality is better, the present embodiment η=0.6；
Simultaneous solution is above-mentioned various, acquires θCD、ΔlD, η, the position of 2 upper side wall endpoint C, D of flexible cavity are obtained with this,
Finally terminal A~D is fitted to obtain smooth 2 upper side wall arc surface of flexible cavity.
Be as shown in Figure 5 by 2 bending change image of the collected elastic inner cavity of camera 6, it is curved since original state
Song is to complete bending, and referring to figure (a)~(d), the relative position of blue and yellow area changes, the profile size of the two
It changes.As shown in fig. 6, image is by binary conversion treatment, Morphological scale-space, edge detection etc., marginal information is extracted.
Training in convolutional neural networks is inputted by the marginal information for the image set that will be acquired, the knowledge to finger bending status may be implemented
Other and bending degree calibration.Convolutional neural networks structure used by the present embodiment is as shown in table 1.Wherein, network exports 5
Value: 4 be four bending directions up and down classification score, 1 be bending degree predicted value.Curvature is returned by L2
Loss function acquires recurrence loss LIt returns, score of classifying by sorting algorithm softmax acquires Classification Loss Ls.Total losses LAlways=LIt returns
+λLs, wherein λ is loss proportionality coefficient, indicates the significance level of two kinds of losses.In image, the feature of bending direction is more bright
It is aobvious, it is easier to accurately identify in a network.Therefore, network is using λ less than 1.
Table 1
The course of work that the present invention embeds the gas drive software finger of vision is as follows:
As shown in Fig. 1 to Fig. 3, when pneumatic operated valve 5 is connected by tracheae with air pump, pneumatic operated valve 5 is opened, in flexible cavity 2
Air pressure rises, and software finger starts to expand, and thread form airtight construction 4 can prevent software finger from popping up.Elastic inner cavity 2 and groove array
3 change the ductility of software finger, so that starting to be bent after the expansion of software finger.The image of elastic inner cavity 2 is real by camera 6
When acquire, image extracts marginal information by subsequent processing, inputs the convolutional neural networks model put up, and realizes bending
The identification of condition.
The gas drive software finger of embedded vision proposed by the present invention, structure is simple, at low cost.Visual sensor is applied to
Software finger: elastic inner cavity is both that air cavity also together forms visual sensor with camera, is both able to satisfy flexible sensor
The flexible attribute with software hand is combined with software palmistry, is also able to satisfy the pneumatic actuation of software hand.Elastic inner cavity uses semiellipse
Shape, the radian of cavity not only change the ductility of software hand, also expand the inner cavity visual field and optimize imaging scale (due to adopting
With arc surface pentrution is increased, to optimize imaging scale).Elastic inner cavity uses reddish yellow blue three-color, software
When hand is bent, the variation of three kinds of color regions is obvious, can provide bending features information abundant, is conducive to camera and captures.It is close
Seal apparatus uses three groups of thread form airtight constructions, pop-up when preventing software finger from inflating.Visual sensor is in conjunction with software finger
Respective advantage, research and application prospect are extensive.
Finally, it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although
Present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: it still may be used
To modify the technical solutions described in the foregoing embodiments or equivalent replacement of some of the technical features；
And these are modified or replaceed, the spirit and model of technical solution of the embodiment of the present invention that it does not separate the essence of the corresponding technical solution
It encloses.
Claims (8)
1. a kind of gas drive software finger of embedded vision, which is characterized in that including the finger ontology being mounted on sealing device；Institute
It states finger ontology and is made of shell with the flexible cavity for being contained in the interior of shell, the inner surface and flexible cavity of the shell
Outer surface be bonded completely, be equipped at intervals with multiple groups groove array at the surface of the shell upper side wall；The finger ontology is in
Under straight configuration, inner surface of the flexible cavity upper side wall along finger length direction is an arc surface to upside protrusion, edge
The flexible cavity is divided into three regions by finger length direction, and the rgb value in adjacent two region is different；The one of the sealing device
End is internal to be equipped with tooth form airtight construction, makes finger ontology embedding by the way that the finger butt of finger ontology is passed through the tooth form airtight construction
Gu the camera coaxial with flexible cavity is equipped with inside the other end of the sealing device, in finger ontology on sealing device
Finger butt and camera between form the cavity that is connected to the flexible cavity, in the sealing device above the cavity
It is fixed with pneumatic operated valve, is connected by the pneumatic operated valve with the tracheae and air pump being located at outside sealing device.
2. gas drive software finger according to claim 1, which is characterized in that the flexible cavity upper side wall is along finger length
The determination method of direction inner surface configuration is as follows:
Enable the flexible cavity upper side wall along finger length direction projection line of the inner surface on finger middle vertical plane by line segment AB,
BC, CD composition, point A, B, C, D respectively correspond the endpoint in each region in flexible cavity, and wherein A point is close to finger root；Point D is enabled to exist
The subpoint of camera optical axis is E；
The position of set point A and point B, and set following known parameters: the projected length of line segment AB, BC, CD in finger middle vertical plane
Respectively a, b, c；Point A is equal to the object distance v of camera to the horizontal distance of camera optical screen；Point A to camera focusing surface water
Flat distance is equal to the focal length f of camera；The vertical range of point A and camera optical axis is Δ lA, it is taken as the camera lens ruler of camera
Very little half；Vertical range between point A and point B is Δ lB, no more than the half of the Lens of camera；Line segment BC with take the photograph
As the angle between head optical axis is θBC, take 1 °~2 °；
According to geometry and optical projection relationship, following formula is obtained:
ΔlC=Δ lB-btanθBC
ΔlD=btan θCD-ΔlC
In formula,
ΔlC、ΔlDVertical range between respectively point A and point C, D；
θCDFor the angle between line segment CD and camera optical axis；
Δdb、Δdc、ΔddRespectively projected length of line segment BC, CD, the DE on camera optical screen, and meet Δ dc=η Δ db,
η is Δ dcWith Δ dbProportionality coefficient, η ∈ (0,1]；
Simultaneous solution is above-mentioned various, acquires θCD、ΔlD, η, the position of flexible cavity upper side wall endpoint C, D is obtained with this, it is finally right
Terminal A~D is fitted to obtain smooth flexible cavity upper side wall arc surface.
3. gas drive software finger according to claim 1 or 2, which is characterized in that the tooth form airtight construction is positioned at institute
Continuous setting or the spaced strip structure of multiple groups inside sealing device one end are stated, each strip structure, which is equipped with, supplies the finger
The through-hole that ontology passes through.
4. gas drive software finger according to claim 1 or 2, which is characterized in that the sealing device is passed through by resin material
3D printing forms integrated formed structure.
5. gas drive software finger according to claim 4, which is characterized in that the length of the sealing device is respectively
30mm、25mm、30mm。
6. gas drive software finger according to claim 1 or 2, which is characterized in that the camera uses to be peeped in pin
Mirror camera.
7. gas drive software finger according to claim 1 or 2, which is characterized in that in the finger ontology, shell and elasticity
Cavity is all made of silastic material and is made, and the silastic material for the silastic material resilience in comparison intracoelomic cavity that the shell uses is hard
Degree is high.
8. gas drive software finger according to claim 1 or 2, which is characterized in that the length of the flexible cavity be 10~
15cm is in turn divided into red area, blue region and yellow area from finger root to finger tip direction.
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| CN113146660A (en) * | 2021-04-08 | 2021-07-23 | 清华大学深圳国际研究生院 | Mechanical claw for tactile perception by depth vision |
| CN113500614A (en) * | 2021-07-12 | 2021-10-15 | 洛阳尚奇机器人科技有限公司 | Inflatable flexible clamping jaw system |
| CN114516039A (en) * | 2022-02-22 | 2022-05-20 | 清华大学 | A multimode manipulator for 3C assembly |
| CN114714354A (en) * | 2022-04-12 | 2022-07-08 | 清华大学 | Vision module device and mechanical arm |
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