CN113211480A - Two-finger manipulator based on one-way transmission - Google Patents

Two-finger manipulator based on one-way transmission Download PDF

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Publication number
CN113211480A
CN113211480A CN202110248433.9A CN202110248433A CN113211480A CN 113211480 A CN113211480 A CN 113211480A CN 202110248433 A CN202110248433 A CN 202110248433A CN 113211480 A CN113211480 A CN 113211480A
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knuckle
finger
pulley
far
rope
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CN113211480B (en
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陈文锐
林辉煌
鄢锉
王耀南
李娟�
刁强
刘武
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Hunan University
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Hunan University
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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
    • B25J15/02—Gripping heads and other end effectors servo-actuated
    • B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
    • B25J15/0233—Gripping heads and other end effectors servo-actuated comprising articulated grippers actuated by chains, cables or ribbons
    • 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
    • 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
    • B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons

Abstract

The invention discloses a two-finger manipulator based on one-way transmission, which comprises a base and two finger modules, wherein the two finger modules are respectively arranged on a left finger hinged base and a right finger hinged base, and the left finger and the right finger are oppositely arranged; the left finger and the right finger both comprise a far knuckle and a near knuckle, the far knuckle is hinged with the near knuckle, and the near knuckle is hinged with the finger base through a near knuckle joint shaft. The two fingers of the invention have four degrees of freedom in total, the steel wire rope and the pulley form a transmission chain driven by only one motor according to the biomechanical characteristics and the motion statistics principle of the cooperation of human hands, the steel wire rope is driven by one steering engine to realize the bending action of the fingers, and the cooperation of the far knuckle realizes that the far knuckle is always parallel under the condition of not being subjected to external force through the driving of the elastic belt and the steel wire rope so as to realize the grabbing. The fingers can be restored to the initial positions through the elastic bands and the springs, so that the clamping and grabbing actions of the manipulator can be realized only by one motor.

Description

Two-finger manipulator based on one-way transmission
Technical Field
The invention belongs to the field of machinery, and particularly relates to a two-finger manipulator based on one-way transmission.
Background
In recent years, as robots have begun to interact with the surrounding environment, helping humans accomplish dexterous tasks, the field of robotic grasping and dexterous manipulation has received increasing attention. The manipulator can be considered as a key component of automatic operation because of interaction with the environment, has an important role particularly in the aspects of usability, automation degree, grasping application research and the like of the robot, and is one of the core components of the robot.
However, the existing robot fingers usually lift through a screw mechanism to pull a rope, so as to drive the fingers to move in a coupling manner. However, this requires a sufficient space for the lifting of the screw mechanism in the robot arm, and the entire size is large, which makes it difficult to apply the robot arm to a fine work.
Disclosure of Invention
In order to solve the problems, the invention provides a two-finger manipulator based on one-way transmission. The two-finger hand has four degrees of freedom in total, the steel wire rope and the pulley form a transmission chain driven by only one motor according to the biomechanical characteristics and the motion statistics principle of the cooperation of the human hand, the steel wire rope is driven by one steering engine to realize the bending action of the fingers, and the cooperation of the far knuckle realizes that the far knuckle is always parallel through the driving of the elastic belt and the steel wire rope. The fingers can be restored to the initial position through the elastic band and the spring, so that the grabbing action of the manipulator can be realized only by one motor.
In order to achieve the technical effects, the technical scheme of the invention is as follows:
a two-finger manipulator based on one-way transmission comprises a base, finger bases 105 are fixed on two sides of the base respectively, the two finger bases 105 are connected with a left finger 1 and a right finger 4 in a hinged mode respectively, and the left finger 1 and the right finger 4 are arranged oppositely; the left finger 1 and the right finger 4 both comprise a far knuckle 101, the far knuckle 101 is hinged with a near knuckle 5 through a far knuckle joint shaft, the near knuckle 5 is hinged with a finger base 105 through a near knuckle joint shaft 106, and two ends of the near knuckle joint shaft 106 are supported and fixed by bearings;
the distal knuckle 101 is hinged with the proximal knuckle 5 through an interphalangeal joint shaft; a proximal joint pulley 110 is fixed on the proximal knuckle joint shaft 106; a far joint pulley 6 is fixed on the knuckle joint shaft, and a far knuckle pulley 102 is connected on the far knuckle 101; a middle pulley 108 is coupled on the finger base 105;
the base is provided with a rotary power device, the rotary power device is connected with a rope pulley 205, one end of a driving rope 7 is wound on the rope pulley 205, the other end of the driving rope 7 sequentially passes through the top of the near joint pulley 110 of the left finger 1, then sequentially passes through the far joint pulley 6 of the left finger 1 for one circle, then sequentially passes through the far knuckle pulley 102 of the finger 1, the bottom of the middle pulley 108, and the far knuckle pulley 102 of the right finger 4 for one circle, and then passes through the near joint pulley 110 of the right finger 4 and then is wound on the rope pulley 205;
a spring 11 is connected between the finger base 105 and the proximal knuckle 5, and a cooperative elastic band 103 is installed between the finger base 105 and the distal knuckle 101.
In a further improvement, the proximal knuckle 5 comprises proximal knuckle side plates 104 on two sides, and a proximal knuckle mother plate 111 is fixed in a bracket of the proximal knuckle side plates 104.
In a further improvement, the proximal knuckle 5 has a proximal knuckle flexible surface 112 secured to a surface thereof and the distal knuckle 101 has a distal knuckle flexible surface 113 secured to a surface thereof.
In a further improvement, the near knuckle 5 is coupled with a first guide pulley 8, and two sides of the middle pulley 108 are respectively coupled with a second guide pulley 109.
In a further improvement, the rotary power device is a steering engine 207.
In a further improvement, the base comprises a base upper cover 201 and a base lower cover 301; the rope wheel 205 is coupled with the base upper cover 201; the base upper cover 201 is also coupled with a third guide wheel 209 and a fourth guide wheel 210.
In a further modification, the base lower cover 301 is provided with an air connector 302 and a circuit board 304.
In a further improvement, the driving rope 7 is a steel wire rope or a carbon fiber rope.
In a further improvement, the far joint pulley 6 and the near joint pulley 110 are both concave pulleys, each concave pulley comprises a rope winding wheel 9 in the middle, and circular baffles 10 are respectively fixed on two sides of each rope winding wheel 9; the driving rope 7 is contacted with the rope winding wheel 9 to transmit power; the distal knuckle joint shaft and the proximal knuckle joint shaft 106 are both fixed with convex rings 1061; the two ends of the cooperative elastic band 103 respectively pass around the convex rings 1061 on the distal knuckle joint shaft and the proximal knuckle joint shaft 106; the spring 11 is installed between the two round baffles 10 near the joint pulley 110 and is not in contact with the driving rope 7.
Further improvement, define:
r11q1+r21q2＝l3
r12q1+r22q2＝l2
r13q1＝l1
Rqf＝0
Figure BDA0002964169870000031
wherein the content of the first and second substances,
Figure BDA0002964169870000032
t represents a matrix inversion;
according to RqWhen f is 0:
Figure BDA0002964169870000041
wherein
Figure BDA0002964169870000042
Then
Figure BDA0002964169870000043
Wherein f ═ f1Or f2；f1Indicating the return force of a return spring, f2Indicating the restoring force of the flexible elastic band; f represents the driving force of the driving rope; r is11Representing the wrap sheave radius of the proximal joint sheave; r is21Represents the wrap sheave radius of the distal joint sheave; q. q.s1Denotes the bending angle of the proximal knuckle, q2Representing the bending angle of the distal knuckle; l3Representing the amount of change in length of the drive rope; r is12Represents the radius of the convex ring 1061 on the proximal knuckle joint axis 106; r is22Represents the radius of the convex ring 1061 on the distal knuckle joint axis; l2Representing the length variation of the cooperative elastic band; r is13Represents the radius of the spring; l1Representing the length variation of the spring; rq represents the finger bending angle q1、q2A matrix of (a);
then adjust r13、r11、r12、r21、k1、k2Of such a value that the driving force F of the driving rope is minimal;
Figure BDA0002964169870000044
wherein k is1Representing the stiffness, k, of the spring2Representing the stiffness of the elastic band, q1Indicating the bend angle of the proximal knuckle.
The invention has the advantages that:
the two-finger hand has four degrees of freedom in total, the steel wire rope and the pulley form a transmission chain driven by only one motor according to the biomechanical characteristics and the motion statistics principle of the cooperation of the human hand, the steel wire rope is driven by one steering engine to realize the bending action of the fingers, and the cooperation of the far knuckles realizes that the far knuckles are always kept parallel by the driving of the elastic belts and the steel wire rope. The fingers can be restored to the initial position through the elastic band and the spring, so that the grabbing action of the manipulator can be realized only by one motor.
The invention adopts novel one-way transmission forms such as ropes, elastic belts and the like, has good shape adaptability, can well grab objects, can also well adapt to different objects to realize stable grabbing, greatly reduces the structural complexity of the dexterous hand of the previous generation, has simpler structure, can also reduce the manufacturing cost and reduce the manufacturing difficulty;
the invention adopts the least constrained topological structure number, can realize the decoupling of force and movement, and realizes the parallel grabbing of dexterous hands;
the invention adopts an optimization method with minimum driving force, a novel rope winding mode of the driving rope and the minimum number of unidirectional active and passive constraints (driving and elastic constraints), and has the advantages of minimum resistance and highest transmission efficiency under the condition of ensuring the functions of dexterous hands.
Drawings
FIG. 1 is a schematic overall perspective view of the present invention;
FIG. 2 is a schematic diagram of the structure of the left finger;
FIG. 3 is a schematic diagram of the structure of the right finger;
FIG. 4 is a schematic structural view of the upper cover of the base;
FIG. 5 is a schematic structural view of a lower cover of a base;
FIG. 6 is a schematic view of the winding of the drive cord;
FIG. 7 is a schematic structural view of a concave pulley;
FIG. 8 is a schematic structural view of a male ring;
fig. 9 is a schematic view of embodiment 2.
Detailed Description
The technical means of the present invention will be specifically described below by way of specific embodiments.
Example 1
As shown in fig. 1-8, the two-finger manipulator based on one-way transmission comprises a base, finger bases 105 are respectively fixed on two sides of the base, the two finger bases 105 are respectively hinged with a left finger 1 and a right finger 4, and the left finger 1 and the right finger 4 are oppositely arranged; the left finger 1 and the right finger 4 both comprise a far knuckle 101, the far knuckle 101 is hinged with a near knuckle 5 through a far knuckle joint shaft, and the near knuckle 5 is hinged with a finger base 105 through a near knuckle joint shaft 106; the distal knuckle 101 is hinged with the proximal knuckle 5 through an interphalangeal joint shaft; a proximal joint pulley 110 is fixed on the proximal knuckle joint shaft 106; a far joint pulley 6 is fixed on the knuckle joint shaft, and a far knuckle pulley 102 is connected on the far knuckle 101; a middle pulley 108 is coupled on the finger base 105;
the base is provided with a rotary power device, the rotary power device is connected with a rope pulley 205, one end of a driving rope 7 is wound on the rope pulley 205, the other end of the driving rope 7 sequentially passes through the top of the near joint pulley 110 of the left finger 1, then sequentially passes through the far joint pulley 6 of the left finger 1 for one circle, then sequentially passes through the far knuckle pulley 102 of the finger 1, the bottom of the middle pulley 108, and the far knuckle pulley 102 of the right finger 4 for one circle, and then passes through the near joint pulley 110 of the right finger 4 and then is wound on the rope pulley 205;
a spring is connected between the finger base 105 and the proximal knuckle 5, and a cooperative elastic band 103 is installed between the finger base 105 and the distal knuckle 101.
The proximal knuckle 5 comprises proximal knuckle side plates 104 at two sides, and a proximal knuckle mother plate 111 is fixed in a bracket of the proximal knuckle side plates 104.
Proximal knuckle 5 has a proximal knuckle flexible surface 112 secured to a surface thereof and distal knuckle 101 has a distal knuckle flexible surface 113 secured to a surface thereof.
The near knuckle 5 is coupled with a first guide pulley 8, and two sides of the middle pulley 108 are respectively coupled with a second guide pulley 109.
The rotary power device is a steering engine 207.
The base comprises a base upper cover 201 and a base lower cover 301; the rope wheel 205 is coupled with the base upper cover 201; the base upper cover 201 is also coupled with a third guide wheel 209 and a fourth guide wheel 210.
The base lower cover 301 has an air connector 302 and a circuit board 304 mounted thereon. The driving rope 7 is a steel wire rope or a carbon fiber rope.
The pulleys are all concave pulleys. The concave pulley comprises a rope winding wheel 9 in the middle, and circular baffles 10 are respectively fixed on two sides of the rope winding wheel 9; the driving rope 7 is contacted with the rope winding wheel 9 to transmit power; the distal knuckle joint shaft and the proximal knuckle joint shaft 106 are both fixed with convex rings 1061; the two ends of the cooperative elastic band 103 respectively pass around the convex rings 1061 on the distal knuckle joint shaft and the proximal knuckle joint shaft 106; the spring 11 is installed between the two round baffles 10 near the joint pulley 110 and is not in contact with the driving rope 7.
The using method of the invention is as follows:
when needs centre gripping article, rope sheave 205 corotation, the both ends of rolling driving rope 7, near knuckle 5 is rotatory upwards, because driving rope 7 drives the rotation of distal joint pulley 6 for two distal knuckles 101 all outwards rotate gradually, thereby remain vertical parallel throughout, thereby guarantee to press from both sides the stability of getting article. When the article needs to be released, the rope wheel 205 is reversed, and the left finger 1 and the right finger 4 are driven by the spring and the elastic belt to return to the original positions. Because the left finger 1 and the right finger 4 are connected through the driving rope 7, the self-adaptive capacity is better, and the size of the manipulator is effectively reduced through the rope pulley 205.
Example 2
As shown in fig. 9, in order to minimize the driving force F of the driving rope, thereby reducing the driving power of the motor, the device volume and the cost, the following improvements are made:
f＝f1or f2；f1Indicating the return force of a return spring, f2Indicating the restoring force of the flexible elastic band; f represents the driving force of the driving rope; r is11Representing the wrap sheave radius of the proximal joint sheave; r is21Represents the wrap sheave radius of the distal joint sheave; q. q.s1Denotes the bending angle of the proximal knuckle, q2Representing the bending angle of the distal knuckle; l3Representing the amount of change in length of the drive rope; r is12Represents the radius of the convex ring 1061 on the proximal knuckle joint axis 106; r is22Represents the radius of the convex ring 1061 on the distal knuckle joint axis; l2Representing the length variation of the cooperative elastic band; r is13Represents the radius of the spring; l1Representing the length variation of the spring; rq represents the finger bending angle q1、q2Of the matrix of (a).
According to the motion principle of the two-finger manipulator, the following steps are obtained:
r11q1+r21q2＝l3
r12q1+r22q2＝l2
r13q1＝l1
then
Figure BDA0002964169870000081
RqRepresenting a matrix with respect to the finger bending angle q, T representing a matrix inversion;
order to
Rqf＝0
Then
Figure BDA0002964169870000091
Wherein
Figure BDA0002964169870000092
Then
Figure BDA0002964169870000093
Because the invention realizes the decoupling of force and movement, the far knuckle is kept parallel in the movement process, and the movement direction of the far knuckle and the movement direction of the near knuckle are opposite in the process, so that the movement is realized by the invention
Figure BDA0002964169870000094
Then
Figure BDA0002964169870000095
Wherein k is1Representing the stiffness, k, of the spring2Representing the stiffness of the elastic band, q1Indicating the bend angle of the proximal knuckle.
From the final formula, the magnitude of the driving force is mainly equal to r13、r11、r12、r21、r22、k1、k2In connection with, wherein the spring stiffness k1The tension spring mainly ensures that the finger can be restored to the initial position without being stressed, and is mainly used for overcoming system friction force including friction of joints and friction of a driving rope and a rope wheel, the joints are all provided with rolling bearings, the friction is small, so that the friction of the driving steel wire rope and part of the rope wheel is mainly used, and the rigidity k of the tension spring can be quickly determined according to inherent characteristics of the driving rope and the rope wheel1。
Therefore, in the design process, to make the invention most labor-saving, it is necessary to ensure r12、r13Has the smallest value of (a) < r >11、r21The value of (2) is the largest, and the values of the three can have different value ranges according to the size of the device, so that the value of the F is the smallest.
The above description is only one specific guiding embodiment of the present invention, but the design concept of the present invention is not limited thereto, and any insubstantial modification of the present invention using this concept shall fall within the scope of the invention.

Claims (10)

1. The two-finger manipulator based on one-way transmission is characterized by comprising a base, wherein finger bases (105) are respectively fixed on two sides of the base, the two finger bases (105) are respectively hinged with a left finger (1) and a right finger (4), and the left finger (1) and the right finger (4) are oppositely arranged; the left finger (1) and the right finger (4) both comprise a far knuckle (101), the far knuckle (101) is hinged with a near knuckle (5) through a far knuckle joint shaft, the near knuckle (5) is hinged with a finger base (105) through a near knuckle joint shaft (106), and two ends of the near knuckle joint shaft (106) are supported and fixed by bearings;
the far knuckle (101) is hinged with the near knuckle (5) through an interphalangeal joint shaft; a proximal joint pulley (110) is fixed on the proximal knuckle joint shaft (106); a far joint pulley (6) is fixed on the knuckle joint shaft, and a far knuckle pulley (102) is coupled on the far knuckle (101); a middle pulley (108) is coupled on the finger base (105);
the base is provided with a rotary power device, the rotary power device is connected with a rope pulley (205), one end of a driving rope (7) is wound on the rope pulley (205), the other end of the driving rope (7) sequentially passes through the top of a near joint pulley (110) of a left finger (1), then sequentially passes through a far joint pulley (6) of the left finger (1) for a circle, then sequentially passes through a far knuckle pulley (102) of the finger (1), the bottom of a middle pulley (108), and a far knuckle pulley (102) of a right finger (4), then is wound around a far joint pulley (6) of the right finger (4) for a circle, and then passes through a near joint pulley (110) of the right finger (4) and then is wound on the rope pulley (205);
a spring (11) is connected between the finger base (105) and the near knuckle (5), and a cooperative elastic band (103) is arranged between the finger base (105) and the far knuckle (101).
2. The two-finger manipulator based on the unidirectional transmission as claimed in claim 1, wherein the near knuckle (5) comprises near knuckle side plates (104) at two sides, and a near knuckle mother plate (111) is fixed in a bracket of the near knuckle side plates (104).
3. The two-finger manipulator based on the unidirectional transmission as claimed in claim 1, wherein the near knuckle (5) surface is fixed with a near knuckle flexible surface (112), and the far knuckle (101) surface is fixed with a far knuckle flexible surface (113).
4. The two-finger manipulator based on the one-way transmission as claimed in claim 1, wherein the near knuckle (5) is coupled with a first guide pulley (8), and two sides of the middle pulley (108) are respectively coupled with a second guide pulley (109).
5. The two-finger manipulator based on the unidirectional transmission as claimed in claim 1, wherein the rotary power device is a steering engine (207).
6. The two-finger manipulator based on the one-way transmission as claimed in claim 1, wherein the base comprises a base upper cover (201) and a base lower cover (301); the rope wheel (205) is coupled with the base upper cover (201) through a shaft; the upper cover (201) of the base is also coupled with a third guide wheel (209) and a fourth guide wheel (210).
7. The two-finger manipulator based on the unidirectional transmission as claimed in claim 6, wherein the base lower cover (301) is provided with an aviation connector (302) and a circuit board (304).
8. The two-finger manipulator based on the unidirectional transmission as claimed in claim 6, wherein the driving rope (7) is a steel wire rope or a carbon fiber rope.
9. The two-finger manipulator based on the unidirectional transmission as claimed in claim 1, wherein the far joint pulley (6) and the near joint pulley (110) are both concave pulleys, each concave pulley comprises a rope winding wheel (9) in the middle, and circular baffles (10) are respectively fixed on two sides of each rope winding wheel (9); the driving rope (7) is contacted with the rope winding wheel (9) to transmit power; convex rings (1061) are fixed on the distal knuckle joint shaft and the proximal knuckle joint shaft (106); two ends of the cooperative elastic band (103) respectively pass through convex rings (1061) on a far knuckle joint shaft and a near knuckle joint shaft (106); the spring (11) is arranged between the two circular baffles (10) close to the joint pulley (110) and is not in contact with the driving rope (7).
10. A two-finger robot based on unidirectional transmission according to claim 9, characterized in that it defines:
r11q1+r21q2＝l3
r12q1+r22q2＝l2
r13q1＝l1
Rqf＝0
Figure FDA0002964169860000031
wherein the content of the first and second substances,
Figure FDA0002964169860000032
t represents a matrix inversion;
according to RqWhen f is 0:
Figure FDA0002964169860000033
wherein
Figure FDA0002964169860000034
Then
Figure FDA0002964169860000035
Wherein f ═ f1Or f2；f1Indicating the return force of a return spring, f2Indicating the restoring force of the flexible elastic band; f represents the driving force of the driving rope; r is11Representing the wrap sheave radius of the proximal joint sheave; r is21Represents the wrap sheave radius of the distal joint sheave; q. q.s1Denotes the bending angle of the proximal knuckle, q2Representing the bending angle of the distal knuckle; l3Representing the amount of change in length of the drive rope; r is12Represents the radius of a convex ring (1061) on the proximal knuckle joint axis (106); r is22Represents the radius of a convex ring (1061) on the distal knuckle joint axis; l2Representing the length variation of the cooperative elastic band; r is13Represents the radius of the spring; l1Representing the length variation of the spring; rq represents the finger bending angle q1、q2A matrix of (a);
then adjust r13、r11、r12、r21、k1、k2Of such a value that the driving force F of the driving rope is minimal;
Figure FDA0002964169860000041
wherein k is1Representing the stiffness, k, of the spring2Representing the stiffness of the elastic band, q1Indicating the bend angle of the proximal knuckle.
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CN212193200U (en) * 2020-05-22 2020-12-22 西安建筑科技大学 Pulley type under-actuated three-joint manipulator

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CN114636489A (en) * 2022-05-18 2022-06-17 湖南大学 Curved array type touch sensor and working method and manipulator thereof
CN114851182A (en) * 2022-06-06 2022-08-05 周鑫 Two-finger mechanical gripper based on flexible drive and control method thereof
CN114851182B (en) * 2022-06-06 2023-09-08 周鑫 Flexible drive-based two-finger mechanical gripper and control method thereof

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