CN112720467B - Finite element modeling and analysis method for five-finger manipulator humanoid grabbing - Google Patents

Finite element modeling and analysis method for five-finger manipulator humanoid grabbing Download PDF

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CN112720467B
CN112720467B CN202011498152.0A CN202011498152A CN112720467B CN 112720467 B CN112720467 B CN 112720467B CN 202011498152 A CN202011498152 A CN 202011498152A CN 112720467 B CN112720467 B CN 112720467B
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grabbing
finger
pinching
robot hand
model
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CN112720467A (en
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刘倩
靳佳澳
刘斯文
张强
谭国真
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Dalian University of Technology
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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
    • B25J9/16—Programme controls
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0081—Programme-controlled manipulators with master teach-in means
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F30/00—Computer-aided design [CAD]
    • G06F30/20—Design optimisation, verification or simulation
    • G06F30/23—Design optimisation, verification or simulation using finite element methods [FEM] or finite difference methods [FDM]
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F2111/00—Details relating to CAD techniques
    • G06F2111/04—Constraint-based CAD
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F2119/00—Details relating to the type or aim of the analysis or the optimisation
    • G06F2119/14—Force analysis or force optimisation, e.g. static or dynamic forces
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
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  • General Engineering & Computer Science (AREA)
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Abstract

The invention belongs to the technical field of electronic information, and provides a five-finger manipulator humanoid grabbing finite element modeling and analysis method, which comprises the following steps: constructing a robot hand model, constructing a touch sensor array, and grabbing models and analysis of different states; the five-finger manipulator is established under the virtual environment to replace hardware implementation in reality, so that the different forms of grabbing actions of the human hand are restored as much as possible, the experimental space is saved, the implementation difficulty is reduced, and experimental conditions are created for the follow-up implementation of the simulated human grabbing gesture learning to be performed by transferring and embedding the grabbing experience of the human hand into the robot hand grabbing.

Description

Finite element modeling and analysis method for five-finger manipulator humanoid grabbing
Technical Field
The invention belongs to the technical field of electronic information, and particularly relates to a set of five-finger manipulator humanoid grabbing finite element modeling and analysis method which can simulate common hand grabbing actions of a human being, and simultaneously obtain tactile information generated by contact between an object and different parts of the manipulator in the grabbing process to obtain grabbing displacement and loading force of the different parts of the manipulator.
Background
The human tactile sensation includes both kinesthesia (information on force, torque, position, speed, etc. perceived by muscles, joints and tendons) and texture (information on surface structure and friction, etc. perceived by mechanoreceptors on the skin). When the action of gripping the object is completed, the action mainly depends on kinesthesia perception and can be described by speed or force.
The kinesthesia information can guide the interaction process of human beings and external objects, and ensure that operators can smoothly complete corresponding tasks without damaging the objects and injuring the operators. In order to achieve the aim of smoothly completing the operation, the five-finger manipulator device can successfully simulate the actions of human hands and can obtain kinesthesia information in the interaction process. According to the invention, the tactile sensor array attached to the manipulator model is used for collecting kinesthesia signals corresponding to hand states of different grabbing actions, and the grabbing states are analyzed to obtain grabbing displacement and loading force of different parts of the manipulator.
Disclosure of Invention
The invention designs a set of five-finger manipulator humanoid grabbing finite element modeling and analysis method.
The technical scheme of the invention is as follows:
a five-finger manipulator humanoid grabbing finite element modeling and analysis method comprises the following steps: constructing a robot hand model, constructing a touch sensor array, and grabbing models and analysis of different states;
(1) Constructing a robot hand model
The robot hand model mainly comprises a palm part and a finger part; the length of the four fingers except the thumb is the same, and the joints of the fingers are staggered, so that the robot hand model completely simulates the change of the hand; the palm part is made of ABS plastic, the elastic modulus is 200MPa, the Poisson's ratio is 0.394, and the density is 5g/cm 3 The method comprises the steps of carrying out a first treatment on the surface of the The finger part is divided into a top joint, a middle joint and a root joint, the touch sensor array is positioned on the surface of the finger end part of the top joint and is a flexible force sensor integrated at the finger end of the robot hand model;
(2) Building a tactile sensor array
The touch sensing unit array mainly comprises a finger tip matrix, an electrode layer 6, a PDMS force transmission convex layer 8, a conductive rubber bulge 9 and a PDMS substrate connecting layer 10; the PDMS substrate 10 is covered on the surface of the finger-tip end group, the bottom of the sensing unit array is fixed on the PDMS substrate 10 through the electrode layer 6, the electrode layer 6 is fixed with the conductive rubber bulge 9, and the PDMS force transmission bulge layer 8 is wrapped outside the conductive rubber bulge 9;
(3) Grabbing model and analysis of different states
(3.1) determining the gripping state of four typical manipulators: column type holding, finger tip pinching, side pinching and finger belly pinching; if the grabbing model is a cylindrical barrel, operating the manipulator in a cylindrical grabbing mode; if the grabbing model is a cylinder, operating the manipulator in a finger tip pinching mode; if the grabbing model is a small cube with the side length of 15mm, a side pinching type manipulator is used; if the grabbing model is a small cylinder with the diameter of 15mm and the height of 25mm, the manipulator is operated by using a finger belly pinching type manipulator;
(3.2) setting loads and boundary conditions corresponding to different grabbing states:
first assume that the rubber on the robot hand is incompressible and isotropic before deformation and obeys hooke's law; because the robot hand is an assembly body, contact setting is required to be added between all parts before analysis, and the contact between all parts of the robot hand is bound binding contact; the friction constraint is set between the fingertip touch sensor and the grabbing model, and the friction coefficient is 0.5;
(3.3) carrying out grid division corresponding to different manipulator grabbing actions:
in order to solve the problem of irregular shape of the robot hand, a free grid dividing method is adopted, and the local grid is subjected to grid density increasing treatment;
(3.4) analyzing the overall displacement stress of different grabbing actions and analyzing the displacement stress of each fingertip
And simulating action operation of the manipulator for grabbing different finite elements under an ANSYS environment, and recording displacement and stress states of each touch sensor under the grabbing working conditions at the part for increasing the grid density under different actions.
The implementation process of the device is as follows:
the manipulator model is designed and a flexible force sensor is installed at the finger end part.
Before the manipulator is controlled to carry out grabbing operation in a virtual environment, contact setting is added among all parts of the manipulator, load and boundary conditions are set for manipulator models in four grabbing modes with highest use frequency respectively, and the problem of irregular shape of the manipulator when the manipulator grabs an object is solved by adopting a free grid dividing method.
In several typical gripping modes, the contact condition of the sensor array of the mechanical finger tip with the object is recorded, and the displacement and stress state of the contacted sensor array are recorded.
The invention has the beneficial effects that: the five-finger manipulator is established under the virtual environment to replace hardware implementation in reality, so that the different forms of grabbing actions of the human hand are restored as much as possible, the experimental space is saved, the implementation difficulty is reduced, and experimental conditions are created for the follow-up implementation of the simulated human grabbing gesture learning to be performed by transferring and embedding the grabbing experience of the human hand into the robot hand grabbing.
Drawings
Fig. 1 is an isometric view of a robot hand.
Fig. 2 is a front view of a robot hand.
FIG. 3 is a schematic diagram of a robotic fingertip tactile sensor array.
Fig. 4 is a front view of a sensor array.
FIG. 5 is a schematic diagram of a sensor unit structure and a force.
Fig. 6 is a schematic view of a cylindrical grip load and constraint arrangement.
Fig. 7 is a schematic view of finger tip pinching.
Fig. 8 is a schematic side pinching view.
Fig. 9 is a schematic diagram of finger belly pinching.
Fig. 10 is a diagram of a grid division of a column grip, (a) a grid division of a column grip as a whole, and (b) a sensor array increasing grid density process.
Fig. 11 shows the stress and displacement of the column grip thumb, (a) stress of the column grip thumb, and (b) displacement of the column grip thumb.
In the figure: 1 an array of sensing cells; 2 palm; 3 top joint; 4 middle joints; 5 root joints; 6 electrode layers; 7, connecting holes; an 8PDMS force transmission convex layer; 9 conductive rubber bumps; a 10PDMS substrate; 11 normal force; 12 tangential force; 13, fixedly supporting; the 14 thumb tip is subjected to a vertical downward force; 15 standard earth gravity; 16. 17, 18, 19 are the rest of the finger stress conditions.
Detailed Description
The invention is further described in detail below with reference to the attached drawings:
(1) According to the attached drawings 1 and 2, a five-finger humanoid manipulator model is constructed
In the model, a main body material of the robot hand is ABS plastic, the elastic modulus is 200MPa, the Poisson ratio is 0.394, and the density is 5g/cm 3 . In the drawing, 1 is a sensing unit array, 2 is a palm, 3 is a top joint, 4 is a middle joint, and 5 is a root joint. Conductive rubber and PDMS on the robot hand are made of rubber super-elastic materials, deformation of the conductive rubber and PDMS can be divided into geometric and physical double nonlinear deformation under the action of external force, and mechanical property calculation is difficult. The Mooney-Rivlin constitutive model commonly used for rubber-like analysis is therefore uniformly adopted, namely, assuming that the rubber is incompressible and isotropic before deformation, and obeying Hooke's law, the formulas of the two parameter models are expressed as:
W＝C 10 (I 1 -3)+C 01 (I 2 -3)
where w is the strain energy function, cij is the Rivlin coefficient, and I1 and I2 are the first and second Green strain invariants.
(2) According to fig. 3, 4 and 5, the finger-end flexible touch sensor array is designed, namely, 1 in fig. 1 is of a three-face structure, and each face is provided with a plurality of sensing units. 6 is an electrode layer, 7 is a connecting hole, 8 is a PDMS bulge, 9 is conductive rubber, 10 is a PDMS substrate, 11 is a normal force, and 12 is a tangential force. The sensing unit is composed of 6, 8 and 9, under the action of 11 and 12, the resistance between the bottom circuit boards is changed, and the variable of the resistance is measured to obtain the force.
(3) Determining the gripping state of four typical manipulators, see fig. 6, 7, 8 and 9
The grabbing operation of the robot hand is realized by controlling the movement position and grabbing force of the finger joints. The number of the grabbing actions of the human hand is up to 36, wherein the use frequency of columnar grabbing, fingertip pinching, side pinching, finger belly pinching and the like is highest. The present invention confirms and reproduces the four gripping states with the highest frequency of use. If the grabbing model is a cylindrical barrel, operating the manipulator in a cylindrical grabbing mode; if the grabbing model is a cylinder, operating the manipulator in a finger tip pinching mode; if the grabbing model is a small cube, a side pinching mode is used for operating the manipulator; if the grabbing model is a small cylinder, the manipulator is operated in a finger belly pinching mode.
(4) Load and boundary conditions are set corresponding to different grabbing states:
it is first assumed that the rubber on the manipulator is incompressible and isotropic before deformation and obeys hooke's law. As the robot hand is an assembly body, contact setting needs to be added between all parts before analysis, and the contact between all parts of the robot hand is bound binding contact. The friction constraint is set between the fingertip touch sensor and the grabber, and the friction coefficient is 0.5.
Taking a columnar grabbing finite element as an example, as shown in fig. 6, 13 is a fixed support, 14 is that the thumb tip is subjected to vertical downward acting force, the size is 2N, and 15 is the standard earth gravity: 9806.6mm/ s 2 16, 17, 18, 19 are the rest finger stress conditions, with a size of 1N. The assumed gripping member is an aluminium alloy with a mass of about 0.2kg. The palm bottom plane adds a fixed constraint. And for the finite element pinched by the fingertips, the contact and fixed constraint conditions between parts in the robot hand under the grabbing working condition are consistent with the columnar grabbing. All fingers except the little finger are contacted with the object through the bottom surface of the finger. The little finger is contacted with the article through the side surface, and the load applied on the finger is 1N. In the case of pinching the side edges, only the thumb and the index finger participate in the grabbing of the article. The palm bottom is fully restrained, and 2N acting force is applied to the top surface of the thumb and the side surface of the index finger. The finger belly pinching and the side pinching are arranged in the same way.
(5) Grid division is carried out corresponding to different manipulator grabbing actions:
in order to solve the problem of irregular shape of the robot hand, a free grid dividing method is adopted, and the local grid is subjected to grid density increasing treatment.
Taking columnar grabbing as an example, as shown in fig. 10 (a), the cylinder is a hexahedral mesh, the rest is a tetrahedral mesh, and the result after the local increase of the mesh density is shown in fig. 10 (b). The final cell count is 46120 and node count is 125900. For finger tip pinching, the division mode is the same as columnar grabbing, and 46129 units and 108167 nodes are finally obtained. For side pinching, the whole assembly is divided into tetrahedral meshes by adopting an automatic dividing method. To ensure the accuracy of the analysis, two sensor arrays contacting the item are subjected to an increased grid density process. The result is 187055 units and 362933 nodes. For finger belly pinching, the dividing mode is the same as side pinching, and only the processing of increasing the grid density is carried out on the rubber superelastic material contacted with the object, so that the 80415 units and 169230 nodes are finally obtained.
(6) Carrying out integral displacement stress analysis and fingertip displacement stress analysis on different grabbing actions
The method is characterized in that the action operation of the manipulator for grabbing different finite elements is simulated under an ANSYS environment, the part for increasing the grid density is focused under different actions, and the displacement and stress states of each touch sensor under the grabbing working condition are recorded.
Taking a columnar grab as an example, as shown in fig. 11, under the aforementioned load and constraint, stress occurs at maximum at the joint connection of each finger. In this grasping situation, as shown in fig. 11 (a), only the sensor at the bottom of the fingertip is in contact with the object, and the sensor array at the side is not stressed. And the displacement at the finger tip is larger, and the displacement between the thumbs is maximally 0.26mm, as shown in fig. 11 (b). For the bottom of the finger tip of the five fingers, the contribution of the thumb and the middle finger to the grip is larger, the corresponding stress and slippage are also more obvious, and the stress displacement diagram of the columnar grip thumb is taken as an example to show the stress and displacement condition of the finger tip in the columnar grip state. For finger tip pinching, the finger tip has an inward trend relative to the finger root, and the displacement of the finger tip of the ring finger is maximum due to the small contact area of the ring finger. For lateral pinching, the displacement of the thumb is greater, while the maximum stress still occurs at the joint of the joint. For pinching of the finger belly, the displacement of the finger tip is maximum, and the stress of the finger tip of the thumb is larger. The maximum of stress is reached at the joints of the thumb.

Claims (1)

1. The five-finger manipulator humanoid grabbing finite element modeling and analyzing method is characterized by comprising the following steps of: constructing a robot hand model, constructing a touch sensor array, and grabbing models and analysis of different states;
(1) Constructing a robot hand model
The robot hand model consists of a palm part and a finger part; the length of the four fingers except the thumb is the same, and the joints of the fingers are staggered, so that the robot hand model completely simulates the change of the hand; the palm part is made of ABS plastic, the elastic modulus is 200MPa, the Poisson's ratio is 0.394, and the density is 5g/cm 3 The method comprises the steps of carrying out a first treatment on the surface of the The finger part is divided into a top joint, a middle joint and a root joint, the touch sensor array is positioned on the surface of the finger end part of the top joint and is a flexible force sensor integrated at the finger end of the robot hand model;
(2) Building a tactile sensor array
The touch sensing unit array consists of a finger end matrix, an electrode layer (6), a PDMS force transmission convex layer (8), conductive rubber bulges (9) and a PDMS substrate (10); the PDMS substrate (10) is covered on the surface of the finger-tip end body, the bottom of the sensing unit array is fixed on the PDMS substrate (10) through the electrode layer (6), the electrode layer (6) is fixedly provided with the conductive rubber bulge (9), and the PDMS force transmission bulge layer (8) is wrapped outside the conductive rubber bulge (9);
(3) Grabbing model and analysis of different states
(3.1) determining the gripping state of four typical manipulators: column type holding, finger tip pinching, side pinching and finger belly pinching; if the grabbing model is a cylindrical barrel, operating the manipulator in a cylindrical grabbing mode; if the grabbing model is a cylinder, operating the manipulator in a finger tip pinching mode; if the grabbing model is a small cube, a side pinching mode is used for operating the manipulator; if the grabbing model is a small cylinder, the manipulator is operated by using a finger belly pinching type;
(3.2) setting loads and boundary conditions corresponding to different grabbing states:
first assume that the rubber on the robot hand is incompressible and isotropic before deformation and obeys hooke's law; because the robot hand is an assembly body, contact setting is required to be added between all parts before analysis, and the contact between all parts of the robot hand is bound binding contact; the friction constraint is set between the fingertip touch sensor and the grabbing model, and the friction coefficient is 0.5; columnar grabbing is consistent with fingertip pinching, and fixed constraint is added on the bottom plane of the palm; the side pinching is the same as the finger belly pinching, so that the bottom of the palm is fully restrained;
for the finite element pinched by the fingertips, the contact and fixed constraint conditions among parts in the robot hand are consistent with the columnar holding and grabbing conditions; all fingers except the little finger are contacted with the article through the bottom surface of the finger, the little finger is contacted with the article through the side surface, and the applied load on the finger is 1N; under the condition of pinching the side, only the thumb and the index finger participate in grabbing the article; applying 2N acting force to the top surface of the thumb and the side surface of the index finger, wherein the pinching of the finger belly is the same as the pinching of the side edge;
(3.3) carrying out grid division corresponding to different manipulator grabbing actions:
in order to solve the problem of irregular shape of the robot hand, a free grid dividing method is adopted, and the local grid is subjected to grid density increasing treatment; the columnar grabbing and fingertip pinching grid dividing method is consistent, the grabbing model is a hexahedral grid, and the rest part is a tetrahedral grid; the grid dividing method of finger belly pinching and side pinching is consistent, and only the rubber superelastic material contacted with the grabbing model is subjected to grid density increasing treatment; for side pinching, dividing the whole assembly body into tetrahedral grids by adopting an automatic dividing method; to ensure the accuracy of analysis, the two sensor arrays contacting the article are subjected to increased grid density processing;
(3.4) analyzing the overall displacement stress of different grabbing actions and analyzing the displacement stress of each fingertip
And simulating action operation of the manipulator for grabbing different finite elements under an ANSYS environment, and recording displacement and stress states of each touch sensor under the grabbing working conditions at the part for increasing the grid density under different actions.
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