CN111993449A - Multi-degree-of-freedom flexible dexterous hand based on shape memory alloy - Google Patents
Multi-degree-of-freedom flexible dexterous hand based on shape memory alloy Download PDFInfo
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- CN111993449A CN111993449A CN202010783178.3A CN202010783178A CN111993449A CN 111993449 A CN111993449 A CN 111993449A CN 202010783178 A CN202010783178 A CN 202010783178A CN 111993449 A CN111993449 A CN 111993449A
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- shape memory
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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
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/1085—Programme-controlled manipulators characterised by positioning means for manipulator elements positioning by means of shape-memory materials
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Abstract
The invention discloses a multi-degree-of-freedom flexible dexterous hand based on shape memory alloy, which comprises: carpal bones, thumb, index finger, middle finger, ring finger, little finger and joint mechanisms thereof; each finger comprises a metacarpal bone and a bendable section coated with flexible materials, the bendable section of the thumb is fixed on the connecting piece and is directly connected with the metacarpal bone, the metacarpal bone of the thumb and the carpal bone are connected by using a cross-axis joint, two rotational degrees of freedom of forward and lateral swinging of the thumb are realized, the bendable sections of the rest four fingers are fixed on the connecting piece and are connected with the metacarpal bone through rotating shaft joints, the rotational degrees of freedom of lateral swinging are realized, and the metacarpal bones of the four fingers are directly and fixedly connected with the carpal bone; the bendable section is driven to bend and deform and the joint swings by heating the shape memory alloy arranged in the bendable section and on the side surface of the finger; the flexible sensor array attached to the surface of the finger can detect the bending and swinging angles of the finger; the invention has simple structure and low cost, and can be applied to the fields of artificial limbs, control hands and the like.
Description
Technical Field
The invention relates to the technical field of soft robots, in particular to a multi-degree-of-freedom flexible dexterous hand based on shape memory alloy.
Background
The bionic dexterous hand is a high-fidelity robot system designed by simulating the shape, structure and function of a human hand, is the highest embodiment of the technical level in the field of bionic robots, and is also the key point for realizing complex operation functions of a service robot. The flexible dexterous hand has the advantages of high flexibility, good safety and strong adaptability, and can be widely applied to the fields of biomedicine and artificial limbs, the industries of families and entertainment services, extreme environment operation and industrial grabbing.
Shape Memory Alloys (SMA) have a Shape Memory effect induced by temperature and stress, and have the great advantages of large stress strain, high power-to-weight ratio, stable deformation, no noise in driving, simple structure and the like as a driver. Due to the above advantages, shape memory alloys are widely used in the field of soft robots. However, the traditional dexterous hand based on the shape memory alloy often has the problems of complex structure and no sensing function.
Disclosure of Invention
In order to solve the technical problems, the invention provides a multi-degree-of-freedom flexible dexterous hand driven by a shape memory alloy, which has a simple structure and a small volume, monitors the posture of the dexterous hand by using a flexible sensor array, and controls the posture change of the dexterous hand by adjusting the heating condition of the shape memory alloy according to the change of a sensing signal.
In order to achieve the purpose, the invention adopts the technical scheme that: a multi-degree-of-freedom flexible dexterous hand based on shape memory alloy comprises:
carpal bones, thumb, index finger, middle finger, ring finger, little finger and joint mechanisms thereof; each finger comprises a metacarpal bone and a bendable section coated with flexible materials,
the bendable section of the thumb is fixed on the connecting piece and is directly connected with the metacarpal bone, the metacarpal bone and the carpal bone of the thumb are connected by using the cross-axis joint, two rotational degrees of freedom of the forward and lateral swing of the thumb are realized,
the bendable sections of the other four fingers are fixed on the connecting piece and connected with the metacarpal bones through the rotating shaft joints, the rotation freedom degree of the side swing is realized, and the metacarpal bones of the four fingers are directly and fixedly connected on the carpal bones;
the bendable section is driven to bend and deform and the joint swings by heating the shape memory alloy arranged in the bendable section and on the side surface of the finger; the flexible sensor array attached to the surface of the finger can detect the bending and swinging angles of the finger.
Furthermore, the bendable section comprises two fixing plates, a back elastic thin plate, a plurality of shape memory alloys with two ends fixed on the two fixing plates, and a flexible material coated outside the shape memory alloys.
Furthermore, the mode that the bendable sections of the fingers are fixed on the connecting piece is static connection, including bonding, riveting and welding.
Furthermore, the rotating shaft joints are respectively connected with metacarpal bones of the index finger, the middle finger, the ring finger and the little finger and the connecting piece to form a rotational degree of freedom for realizing lateral swing.
Furthermore, the cross-axis joint is connected with the metacarpal bone and the carpal bone of the thumb through a hinge to form two rotational degrees of freedom for realizing the forward and lateral swinging of the thumb.
Furthermore, the metacarpal bones of the index finger, the middle finger, the ring finger and the little finger are respectively and directly connected to the carpal bones in a static connection mode, including bonding, riveting and welding.
Furthermore, the side surface of the connecting piece is provided with an opening side plate for placing the shape memory alloy, and the number of the openings is one or more.
Furthermore, one or more openings are uniformly and regularly arranged on the fixing plate to ensure that the shape memory alloy passing through the openings is symmetrically and uniformly distributed in the width direction of the fixing plate, and the uniformity of stress of the bendable section of the finger in the width direction in the action process is ensured.
Further, the shape memory alloy disposed within the deflectable segment and on the sides of the finger can be heated to cause contraction to deform and articulate the deflectable segment.
Furthermore, the shape memory alloy is made of gold-cadmium alloy, indium-thallium alloy and nickel-titanium alloy.
Furthermore, the shape memory alloy is in a filiform shape, a spring shape or a sheet shape.
Furthermore, the flexible material should be silica gel, foamed rubber or other soft materials with the elastic modulus lower than 1 GPa.
Further, the thickness of the elastic thin plate is 1-3 mm, the elastic thin plate is made of copper sheets, steel sheets, nylon or other organic and inorganic materials with the elastic modulus of more than 1000GPa, elastic potential energy is stored when the shape memory alloy of the bendable section of the finger is heated and bent, and the elastic potential energy is released in the process that the heating is stopped and the bendable section of the finger gradually returns to the shape, so that the bendable section of the finger returns to the normal shape.
Furthermore, the shape memory alloy is heated by electric heating, light irradiation or other external and internal heat source conduction.
Further, the flexible sensor array is arranged on the surface of the finger, and the number of the flexible sensor array is one or more.
Further, the flexible sensor array changes the size and the distribution position according to the structure and the shape of the dexterous hand so as to obtain the optimal sensing data.
Further, the flexible sensor is of a type of a resistive strain gauge, a capacitive strain gauge, or other flexible sensor that can detect deformation.
Has the advantages that:
compared with the prior art, the invention provides the multi-degree-of-freedom flexible dexterous hand driven by the shape memory alloy, the dexterous hand is simple in structure and small in size, the posture of the dexterous hand is monitored by the flexible sensor array, and the posture change of the dexterous hand is controlled by adjusting the heating condition of the shape memory alloy according to the change of the sensing signal.
Drawings
FIG. 1 is a schematic structural diagram of an entirety of a multi-degree-of-freedom flexible dexterous hand based on shape memory alloy according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of the structure of the index finger of a multi-degree-of-freedom flexible dexterous hand based on shape memory alloy according to one embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, rather than all embodiments, and all other embodiments obtained by a person skilled in the art based on the embodiments of the present invention belong to the protection scope of the present invention without creative efforts.
As shown in fig. 1, the multi-degree-of-freedom flexible dexterous hand based on the shape memory alloy in the embodiment includes a thumb 1, an index finger 2, a middle finger 3, a ring finger 4, a little finger 5 and a carpal bone 6. Wherein the index finger 2, the middle finger 3, the ring finger 4 and the little finger 5 are fixed on the metacarpal bone 6 by screws, and the thumb 1 and the carpal bone 6 form a rotary connection which can swing forwards and sideways, and the direction is shown in figure 1. The thumb 1 has a bendable section comprising: the two fixing plates 1d at two ends, four shape memory alloy wires 1e arranged between the two fixing plates 1d, coated flexible material silica gel 1b and an elastic thin plate 1c made of copper sheets at the back of the thumb 1, wherein the bendable section of the thumb is fixed on a connecting piece 1f by screws, and the connecting piece 1f is fixed on the metacarpal bone 1g of the thumb by screws. The metacarpal bone 1g of the thumb is connected to the carpal bone 6 by a cross joint 1i through a hinge, and the side surface of the metacarpal bone is connected to the carpal bone 6 by eight shape memory alloy wires 1 j. Electrifying the shape memory alloy wire 1e, and heating and shrinking the shape memory alloy wire 1e to drive the bendable section to bend. After the power is turned off, the temperature of the shape memory alloy wire 1e decreases, and the internal stress decreases. At this time, the bendable section is gradually restored to the normal shape by the elastic force of the elastic sheet 1c made of a copper sheet. The four flexible strain gauges 1a attached to the back of the elastic thin plate 1c made of copper sheets measure discrete curvatures of different positions on the driver, an actual bending angle of a bendable section of the thumb 1 is obtained through fitting, the current of the shape memory alloy 1e is adjusted through negative feedback, the bending angle of the bendable section of the thumb 1 is adjusted, and the purpose of accurately controlling the bending angle of the bendable section of the thumb 1 is achieved. The shape memory alloy wires 1j arranged on the four sides of the thumb cross axle joint 1i are selectively electrified, and the shape memory alloy wires 1j generate heat and contract to drive the thumb 1 to swing forwards or laterally. After the power is cut off, the temperature of the shape memory alloy wire 1j is reduced, the internal stress is reduced, and the thumb 1 is not pulled to swing. The flexible strain gauges 1h attached to the four sides of the universal joint 1i measure the swing angle of the thumb 1, the swing angle of the thumb 1 is fitted, the current of the shape memory alloy 1j is adjusted through negative feedback, the swing angle of the thumb 1 is adjusted, and the purpose of accurately controlling the swing angle of the thumb 1 is achieved.
As shown in FIG. 2, the index finger 2 of the multi-degree-of-freedom flexible dexterous hand based on shape memory alloy in the embodiment comprises a bendable section, wherein the bendable section comprises: the two fixing plates 2d at two ends, the four shape memory alloy wires 2e arranged between the two fixing plates 2d, the coated flexible material silica gel 2b and the elastic thin plate 2c made of copper sheets at the back of the forefinger 2, wherein the bendable section of the forefinger 2 is fixed on the connecting piece 2f by screws, and the connecting piece 2f is fixed on the metacarpal bone 2j of the forefinger by the rotating shaft joint 2 g. The side plate 2k with the opening on the connecting piece 2f of the forefinger and the side plate with the opening on the metacarpal 2j are provided with four shape memory alloy wires 2i, namely, each side is provided with 2 shape memory alloy wires 2 i. The metacarpal 2j of the index finger 2 is fixed to the carpal bone 6 with screws. Electrifying the shape memory alloy wire 2e, and heating and shrinking the shape memory alloy wire 2e to drive the bendable section to bend. After the power is cut off, the temperature of the shape memory alloy wire 2e decreases, and the internal stress decreases. At this time, the bendable section is gradually restored to the normal shape by the elastic force of the elastic sheet 2c made of a copper sheet. The four flexible strain gauges 2a attached to the back of the elastic thin plate 2c made of copper sheets measure the discrete curvatures of different positions on the bendable section of the index finger 2, further obtain the actual bending angle of the bendable section of the index finger 2 through fitting, and then adjust the bending angle of the bendable section of the index finger 2 through negative feedback to adjust the current of the shape memory alloy 2e, so that the aim of accurately controlling the bending angle of the bendable section of the index finger 2 is fulfilled. Electrifying the shape memory alloy wire 2i arranged between the index finger connecting piece 2f and the metacarpal 2j, and heating and shrinking the shape memory alloy wire 2i to drive the bendable section of the index finger 2 to swing. After the power is cut off, the temperature of the shape memory alloy wire 2i is reduced, the internal stress is reduced, and the index finger 2 is not pulled to swing any more. The flexible strain gauge 2h adhered to the side surface of the rotating shaft joint 2g of the forefinger 2 measures the swing angle of the forefinger 2, and then adjusts the swing angle of the forefinger 2 by regulating the current of the shape memory alloy 2i through negative feedback, thereby achieving the purpose of accurately controlling the swing angle of the forefinger 2. As shown in fig. 2, the arrow indicates the direction in which the index finger 2 can swing. As shown in fig. 1, the middle finger 3 swings in the direction of the arrow under the pulling of the right shape memory alloy, and the bendable section thereof bends.
According to an alternative embodiment of the invention, the bendable sections of the fingers are fixed on the connecting piece in a static connection mode, including bonding, riveting and welding.
According to one embodiment of the invention, the metacarpal bones of the index finger, the middle finger, the ring finger and the little finger are respectively connected with the rotating shaft joints, and the connecting piece forms a rotational freedom degree for realizing lateral swinging.
According to one embodiment of the invention, the cross-axis joint connects the metacarpal bone and the carpal bone of the thumb through a hinge to form two rotational degrees of freedom for realizing the forward and lateral swinging of the thumb.
According to a preferred embodiment of the invention, the manner of directly connecting the metacarpals of the index finger, the middle finger, the ring finger and the little finger to the carpal bones respectively is static connection, including bonding, riveting and welding.
According to an alternative embodiment of the invention, the side of the connecting piece is provided with a side plate with a plurality of openings for placing the shape memory alloy, and the number of the openings is one or more.
According to an alternative embodiment of the invention, one or more openings are uniformly and regularly arranged on the fixing plate to ensure that the shape memory alloy passing through the openings is symmetrically and uniformly distributed in the width direction of the fixing plate, so that the uniformity of stress of the bendable section of the finger in the width direction during action is ensured.
According to an alternative embodiment of the invention, the shape memory alloy disposed within the bendable section and on the sides of the fingers is capable of being heated to cause contraction to deform and articulate the bendable section.
According to an alternative embodiment of the invention, the material of the shape memory alloy is gold-cadmium alloy, indium-thallium alloy, nickel-titanium alloy.
According to an alternative embodiment of the invention, the shape memory alloy is in the form of wire, spring, sheet.
According to an alternative embodiment of the present invention, the flexible material should be silica gel, foamed rubber or other soft material with elastic modulus lower than 1 GPa.
According to a preferred embodiment of the present invention, the elastic thin plate has a thickness of 1 to 3 mm, is made of copper sheet, steel sheet, nylon or other organic or inorganic material with an elastic modulus of more than 1000GPa, stores elastic potential energy when the shape memory alloy of the finger bendable section is heated and bent, and releases the elastic potential energy to restore the finger bendable section to a normal shape when the heating is stopped and the finger bendable section gradually returns to the shape.
According to an alternative embodiment of the present invention, the shape memory alloy is heated by electrical heating, light irradiation, or other external and internal heat source conduction.
According to an alternative embodiment of the invention, the flexible sensor array is arranged on the surface of the finger, in one or more numbers.
According to a preferred embodiment of the present invention, the flexible sensor array is sized and distributed according to the structure and shape of the dexterous hand to obtain optimal sensing data.
According to an alternative embodiment of the invention, the flexible sensor is of the type of a resistive strain gauge, a capacitive strain gauge or other flexible sensor that can detect deformations.
Finally, it should be noted that the above embodiment of the shape memory alloy-based multi-degree-of-freedom flexible dexterous hand is only used for illustrating the technical solution of the present invention and is not limited. It is to be understood that the embodiments described are only a few embodiments of the present invention, and not all embodiments. Although the present invention has been described in detail with reference to the embodiments, it will be understood by those skilled in the art that various changes may be made and equivalents may be substituted without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (17)
1. A multi-degree-of-freedom flexible dexterous hand based on shape memory alloy is characterized by comprising:
carpal bones, thumb, index finger, middle finger, ring finger, little finger and joint mechanisms thereof; each finger comprises a metacarpal bone and a bendable section coated with flexible materials,
the bendable section of the thumb is fixed on the connecting piece and is directly connected with the metacarpal bone, the metacarpal bone and the carpal bone of the thumb are connected by using the cross-axis joint, two rotational degrees of freedom of the forward and lateral swing of the thumb are realized,
the bendable sections of the other four fingers are fixed on the connecting piece and connected with the metacarpal bones through the rotating shaft joints, the rotation freedom degree of the side swing is realized, and the metacarpal bones of the four fingers are directly and fixedly connected on the carpal bones;
the bendable section is driven to bend and deform and the joint swings by heating the shape memory alloy arranged in the bendable section and on the side surface of the finger; the flexible sensor array attached to the surface of the finger can detect the bending and swinging angles of the finger.
2. The shape memory alloy-based multi-degree-of-freedom flexible dexterous hand of claim 1, wherein the bendable section comprises two fixing plates, a back elastic thin plate, a plurality of shape memory alloys with two ends fixed on the two fixing plates, and a flexible material coated outside the shape memory alloys.
3. The multi-degree-of-freedom flexible dexterous hand based on the shape memory alloy as claimed in claim 1, wherein the bendable sections of the fingers are fixed on the connecting piece in a static connection mode, including bonding, riveting and welding.
4. The flexible dexterous hand with multiple degrees of freedom based on the shape memory alloy as claimed in claim 1, wherein the rotation shaft joints are respectively connected with metacarpal bones of an index finger, a middle finger, a ring finger and a little finger and the connecting piece to form a rotation degree of freedom for realizing lateral swinging.
5. The multi-degree-of-freedom flexible dexterous hand based on the shape memory alloy as claimed in claim 1, wherein the cross-axis joint connects the metacarpal bone and the carpal bone of the thumb through a hinge to form two rotational degrees of freedom for realizing the forward and lateral swinging of the thumb.
6. The flexible dexterous hand with multiple degrees of freedom based on the shape memory alloy as claimed in claim 1, wherein the manner of directly connecting the metacarpal bones of the index finger, the middle finger, the ring finger and the little finger to the carpal bones respectively is static connection, including bonding, riveting and welding.
7. The flexible dexterous hand with multiple degrees of freedom based on the shape memory alloy is characterized in that the side surface of the connecting piece is provided with a side plate with one or more openings for placing the shape memory alloy.
8. The multi-degree-of-freedom flexible dexterous hand based on the shape memory alloy as claimed in claim 2, wherein the fixing plate is uniformly and regularly provided with one or more openings to ensure that the shape memory alloy passing through the fixing plate is symmetrically and uniformly distributed in the width direction of the fixing plate, and the uniformity of stress of the bendable section of the finger in the width direction during the action is ensured.
9. The shape memory alloy-based multi-degree-of-freedom flexible dexterous hand of claim 2, wherein the shape memory alloy disposed inside the bendable section and on the sides of the fingers can be heated to cause contraction to drive the bendable section to deform and articulate.
10. The flexible dexterous hand with multiple degrees of freedom based on the shape memory alloy as claimed in claim 9, wherein the material of the shape memory alloy is gold-cadmium alloy, indium-thallium alloy, nickel-titanium alloy.
11. The multi-degree-of-freedom flexible dexterous hand based on the shape memory alloy as claimed in claim 9, wherein the shape memory alloy is in the form of wire, spring or sheet.
12. The flexible dexterous hand with multiple degrees of freedom based on the shape memory alloy as claimed in claim 2, wherein the flexible material is silica gel, foamed rubber or other soft materials with elastic modulus lower than 1 GPa.
13. The multi-degree-of-freedom flexible dexterous hand based on the shape memory alloy as claimed in claim 2, wherein the thickness of the elastic thin plate is 1-3 mm, the material is copper sheet, steel sheet, nylon or other organic or inorganic material with the elastic modulus of more than 1000GPa, the elastic potential energy is stored when the shape memory alloy of the bendable section of the finger is heated and bent, and the elastic potential energy is released in the process that the heating is stopped and the bendable section of the finger gradually returns to the shape, so that the bendable section of the finger returns to the normal shape.
14. The multi-degree-of-freedom flexible dexterous hand based on the shape memory alloy as claimed in claim 9, wherein the shape memory alloy is heated by electric heating, light irradiation or other external and internal heat source conduction.
15. The shape memory alloy-based multi-degree-of-freedom flexible dexterous hand of claim 1, wherein the flexible sensor array is arranged on the surface of the finger in one or more numbers.
16. The multi-degree-of-freedom flexible dexterous hand based on the shape memory alloy as claimed in claim 1, wherein the flexible sensor array changes size and distribution position according to the structure and shape of the dexterous hand to obtain optimal sensing data.
17. A shape memory alloy based multi degree of freedom flexible dexterous hand according to claim 15 or 16, wherein the flexible sensor is of the type of a resistive strain gauge, a capacitive strain gauge or other deformation detectable flexible sensor.
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| CN202010783178.3A CN111993449A (en) | 2020-08-06 | 2020-08-06 | Multi-degree-of-freedom flexible dexterous hand based on shape memory alloy |
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| CN202010783178.3A CN111993449A (en) | 2020-08-06 | 2020-08-06 | Multi-degree-of-freedom flexible dexterous hand based on shape memory alloy |
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| CN1830636A (en) * | 2006-04-14 | 2006-09-13 | 华中科技大学 | Assemblied anthropomorphic manipulator based on imbedded shape memory alloy electric machine |
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| CN104875206A (en) * | 2015-05-15 | 2015-09-02 | 中国科学技术大学 | Flexible manipulator based on shape memory alloy-flexible composite structure |
| CN107081777A (en) * | 2017-05-10 | 2017-08-22 | 中国科学技术大学 | Humanoid dextrous hand based on marmem beformable body intelligent digital composite construction |
| CN108015745A (en) * | 2017-11-27 | 2018-05-11 | 清华大学 | A kind of flexible manipulator based on marmem |
| DE202019105925U1 (en) * | 2019-10-25 | 2019-11-11 | Lukas Roth | Exoprosthesis, especially hand prosthesis |
| CN209954685U (en) * | 2019-05-28 | 2020-01-17 | 南京林业大学 | Man-hand-simulated pneumatic soft paw |
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2020
- 2020-08-06 CN CN202010783178.3A patent/CN111993449A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1830636A (en) * | 2006-04-14 | 2006-09-13 | 华中科技大学 | Assemblied anthropomorphic manipulator based on imbedded shape memory alloy electric machine |
| CN103128744A (en) * | 2012-12-21 | 2013-06-05 | 中国矿业大学 | Humanoid flexible mechanical arm device |
| CN104875206A (en) * | 2015-05-15 | 2015-09-02 | 中国科学技术大学 | Flexible manipulator based on shape memory alloy-flexible composite structure |
| CN107081777A (en) * | 2017-05-10 | 2017-08-22 | 中国科学技术大学 | Humanoid dextrous hand based on marmem beformable body intelligent digital composite construction |
| CN108015745A (en) * | 2017-11-27 | 2018-05-11 | 清华大学 | A kind of flexible manipulator based on marmem |
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| DE202019105925U1 (en) * | 2019-10-25 | 2019-11-11 | Lukas Roth | Exoprosthesis, especially hand prosthesis |
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