CN113510741A - Under-actuated self-adaptive manipulator based on metamorphic principle - Google Patents
Under-actuated self-adaptive manipulator based on metamorphic principle Download PDFInfo
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- CN113510741A CN113510741A CN202110856565.XA CN202110856565A CN113510741A CN 113510741 A CN113510741 A CN 113510741A CN 202110856565 A CN202110856565 A CN 202110856565A CN 113510741 A CN113510741 A CN 113510741A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
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- B25J15/08—Gripping heads and other end effectors having finger members
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Abstract
The invention discloses an under-actuated self-adaptive manipulator based on a metamorphic principle, which belongs to the technical field of manipulators and comprises an under-actuated finger, a rack, a self-adaptive limiting mechanism, a translation ring and a driving link; the self-adaptive limiting mechanism is arranged on a base of the frame and is arranged in a triangular shape, and a frame upright post is arranged at the lower part of the base and corresponds to the self-adaptive limiting mechanism; the translation ring is sleeved on the stand column of the rack, the driving link is arranged at the bottom of the translation ring, and the translation ring can move up and down and rotate along the stand column of the rack by driving the driving link; the under-actuated finger is hinged with the self-adaptive limiting mechanism and can rotate along the self-adaptive limiting mechanism, and one end of the under-actuated finger is hinged with the translation ring through a fifth connecting rod. The invention adopts a mode of independently driving the three under-actuated fingers, improves the stability and reliability of the mechanical arm when grabbing objects with various shapes and sizes, and simultaneously, the under-actuated fingers can be better suitable for grabbing objects with various shapes and sizes.
Description
Technical Field
The invention belongs to the technical field of manipulators, and particularly relates to an under-actuated self-adaptive manipulator based on a metamorphic principle.
Background
In the modern life, the technological progress is changing day by day, and the robot technology receives attention from various countries because the robot technology can assist and even replace human beings to complete complex, heavy and even dangerous work. At present, the robot technology has been developed and widely applied in the industries of medical treatment, military, education, production and life and the like. Therefore, the related art of the robot becomes a technology which is widely concerned by researchers and people in the direction. The robot arm is one of the current popular research directions in the field of robots due to its high efficiency, low cost, and good safety. The development direction of the current manipulator lies in that the grabbing of various objects is realized more flexibly, stably and with higher precision, and meanwhile, the manipulator has higher and higher requirements on the operation space.
An under-actuated manipulator based on metamorphic principle (Chinese patent application CN107891434A) is provided, which realizes the object grabbing without depending on other object supports. However, the device has the disadvantages that: the single driving structure adopted by the device drives at least two mechanical fingers to move synchronously through one driving part, so that the mechanical fingers always keep the same posture in the moving process, and the grabbing stability of irregular objects is poor.
Another existing three-finger underactuated manipulator with shape self-adaptation function (chinese utility model patent CN298468408U), which realizes the stable gripping of different objects by the size of the passive self-adaptation object. However, this device is deficient in that: the mechanical arm finger part for grabbing the object is a rigid structure and cannot adapt to the surface shape and irregular size of the grabbed object. In the process of grabbing objects with complex shapes, large impact can exist, and the clamped objects are damaged to a certain extent.
Disclosure of Invention
Aiming at the defects or the improvement requirements in the prior art, the invention provides an under-actuated self-adaptive manipulator based on a metamorphic principle, and aims to solve the technical problem that the existing manipulator does not have poor grabbing stability on irregular objects in a mode of independently driving an under-actuated finger through a translation ring and a driving link.
In order to achieve the above object, according to one aspect of the present invention, there is provided an under-actuated adaptive manipulator based on metamorphic principle, the manipulator including an under-actuated finger, a frame, an adaptive limiting mechanism, a translation ring and a prime mover;
the self-adaptive limiting mechanism is arranged on a base of the rack and is arranged in a triangular shape, and a rack upright post is arranged at the lower part of the base and corresponds to the self-adaptive limiting mechanism;
the translation ring is sleeved on the stand column of the rack, the motive power piece is arranged at the bottom of the translation ring, and the translation ring can move up and down and rotate along the stand column of the rack by driving the motive power piece;
the under-actuated finger is hinged with the self-adaptive limiting mechanism and can rotate along the self-adaptive limiting mechanism; one end of the under-actuated finger is hinged to the translation ring through a fifth connecting rod.
Preferably, the under-actuated finger comprises a fingertip, a first finger, a triangular link, and a second finger; one end of the first finger part is hinged with the fingertip, and the other end of the first finger part is hinged with the triangular connecting rod; one end of the second finger part is hinged to the triangular connecting rod, the other end of the second finger part is hinged to the self-adaptive limiting mechanism, and the outer end part of the second finger part is further hinged to the fifth connecting rod.
Preferably, the first finger comprises a first link and a second link; one end of the first connecting rod is hinged with the fingertip, and the other end of the first connecting rod is hinged with the first end part of the triangular connecting rod; one end of the second connecting rod is hinged with the finger tip, and the other end of the second connecting rod is hinged with the second end part of the triangular connecting rod.
Preferably, the second finger includes a third link, a three-hole link, and a fourth link; one end of the third connecting rod is hinged with the first end part of the triangular connecting rod, and the other end of the third connecting rod is hinged with the self-adaptive limiting mechanism; the first end of the three-hole connecting rod is hinged with the third end of the triangular connecting rod, and the second end of the three-hole connecting rod is hinged with the fifth connecting rod; and two ends of the fourth connecting rod are respectively hinged to the self-adaptive limiting mechanism and the third end part of the three-hole connecting rod.
Preferably, the device further comprises a reset mechanism, wherein the reset mechanism is used for realizing the stretching reset action after the grabbing action.
Preferably, the return mechanism comprises a first elastic member and a second elastic member; two ends of the first elastic piece are respectively connected with the fingertips and the second connecting rod; and two ends of the second elastic piece are respectively connected with the third connecting rod and the three-hole connecting rod.
Preferably, the first elastic member and the second elastic member are both springs.
Preferably, the self-adaptive limiting mechanism comprises a chassis, a fixing piece and a hinged base; the chassis is fixedly arranged on the base of the rack through the fixing piece, and the hinged base is arranged in the chassis and connected with the fixing piece.
Preferably, the self-adaptive limiting mechanism further comprises a resetting piece, and the resetting piece is mounted on the fixing piece and located between the chassis and the hinged base; the chassis is provided with a limiting groove, and two ends of the reset piece are positioned in the limiting groove.
Preferably, the reset member is a torsion spring.
In general, compared with the prior art, the above technical solution contemplated by the present invention can achieve the following beneficial effects:
1. the under-actuated self-adaptive manipulator based on the metamorphic principle disclosed by the invention can be used for independently driving the under-actuated fingers through the translation ring and the driving link, so that the stability and the reliability of the manipulator in grabbing objects with various shapes and sizes are improved.
2. The under-actuated finger of the under-actuated self-adaptive manipulator based on the metamorphic principle has the advantages of simple structure, small number of parts and high application feasibility.
Drawings
FIG. 1 is a schematic structural diagram of an under-actuated adaptive manipulator based on metamorphic principle according to the present invention;
FIG. 2 is a schematic structural diagram of an adaptive limiting mechanism in an under-actuated adaptive manipulator based on a metamorphic principle according to the invention;
FIG. 3 is a schematic diagram of an under-actuated adaptive manipulator clamping an object with a small volume based on metamorphic principle according to the present invention;
FIG. 4 is a schematic diagram of an under-actuated adaptive manipulator clamping a large-volume object based on metamorphic principle according to the present invention;
FIG. 5 is a schematic diagram of a first stage of clamping a columnar object by an under-actuated adaptive manipulator based on metamorphic principle according to the present invention;
FIG. 6 is a schematic diagram of the present invention based on metamorphic principle, in which an under-actuated adaptive manipulator completely clamps a cylindrical object.
The same reference numbers will be used throughout the drawings to refer to the same or like elements or structures, wherein: 1-finger tip; 2-a first link; 3-a second link; 4-a triangular connecting rod; 5-a third link; 6-three-hole connecting rod; 7-a fourth link; 8, a self-adaptive limiting mechanism; 9-a fifth link; 10-a translation ring; 11-a prime mover; 12-a frame column; 13-a first elastic member; 14-a second elastic member; 21-a chassis; 22-a reset member; 23-a fixing member; 24-hinged base.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
As shown in FIG. 1, the invention provides an under-actuated adaptive manipulator based on metamorphic principle, which comprises a frame, fingertips 1, a first connecting rod 2, a second connecting rod 3, a triangular connecting rod 4, a third connecting rod 5, a three-hole connecting rod 6, a fourth connecting rod 7, an adaptive limiting mechanism 8, a fifth connecting rod 9, a translation ring 10 and a driving link 11.
Referring to fig. 2, the adaptive limiting machine 8 includes a chassis 21, a reset member 22, a fixing member 23, and a hinge base 24.
Specifically, the self-adaptive limiting mechanism 8 is mounted on the base of the rack and is hinged to the third connecting rod 5 and the fourth connecting rod 7. The frame comprises three upright posts 12, the translation ring 10 is installed on the upright posts 12 of the frame, the fifth connecting rod 9 is connected with the translation ring 10, and the driving link 11 is fixed on the translation ring 10. And one end of the three-hole connecting rod 6 is hinged to the triangular connecting rod 4, one end of the three-hole connecting rod is hinged to the fourth connecting rod 7, and the other end of the three-hole connecting rod is hinged to the fifth connecting rod 9. One end of the third connecting rod 5 is hinged with the triangular connecting rod 4, and the other end of the third connecting rod is hinged with the fourth connecting rod 7. One end of the fingertip 1 is hinged to the second connecting rod 3, one end of the fingertip is hinged to the first connecting rod 2, the first connecting rod 2 is hinged to the triangular connecting rod 4, and the second connecting rod 3 is hinged to the triangular connecting rod 4. The first elastic member 13 connects the first link 2 and the second link 3, and the second elastic member 14 connects the third link 5 and the three-hole link 6.
Further, the chassis 21 is fixedly mounted on the base of the rack through the fixing member 23, the hinge base 24 is mounted in the chassis 21 and connected to the fixing member 23, a limiting groove is formed in the chassis 21, the reset member 22 is mounted on the fixing member 23 and located between the chassis 21 and the hinge base 24, and two ends of the reset member 22 are located in the limiting groove.
As a preferred embodiment of the present invention, the first elastic member 13 and the second elastic member 14 are both springs.
As a preferred embodiment of the present invention, the restoring member 22 is a torsion spring.
The technical solution of the present invention is further illustrated by the following specific examples.
Example one
In one embodiment of the present invention, as shown in fig. 1-3, when a sphere with a small volume is grasped, the translation ring 10 is driven by the driving link 11 to translate along the rack upright 12, so as to push the fifth link 9 to move. Under the drive of fifth connecting rod 9, three hole connecting rod 6 takes place to remove, and this moment fingertip 1, first connecting rod 2, second connecting rod 3, triangle connecting rod 4, third connecting rod 5, three hole connecting rod 6 and fourth connecting rod 7 form a whole under the effect of first elastic component 13 with second elastic component 14, because third connecting rod 5 with fourth connecting rod 7 is articulated with self-adaptation stop gear 8, consequently under the drive of fifth connecting rod 9 under the whole rotation of taking place around self-adaptation stop gear 8 of under-actuated finger. When the fingertip 1 comes into contact with the ball, the grasping of the ball of smaller volume is completed as shown in fig. 3.
Example two
As shown in fig. 1, 2 and 4, in one embodiment of the present invention, when a sphere with a relatively large volume is grasped, the translation ring 10 is driven by the driving link 11 to translate along the rack upright 12, so as to push the fifth link 9 to move. Under the drive of the fifth connecting rod 9, the three-hole connecting rod 6 moves, at this time, the fingertip 1, the first connecting rod 2, the second connecting rod 3, the triangular connecting rod 4, the third connecting rod 5, the three-hole connecting rod 6 and the fourth connecting rod 7 form a whole under the action of the first elastic piece 13 and the second elastic piece 14, and the third connecting rod 5 and the fourth connecting rod 7 are hinged with the adaptive limiting mechanism 8, so that the underactuated finger integrally rotates around the adaptive limiting mechanism 8 under the drive of the fifth connecting rod 9. When third connecting rod 5 is in contact with the spheroid back third connecting rod 5 can't continue to rotate, this moment triangle connecting rod 4 three hole connecting rod 6 with fourth connecting rod 7 is overcoming continue to move under the effort of second elastic component 14, and the motion in-process fingertip 1, first connecting rod 2, second connecting rod 3, triangle connecting rod 4 are in still can regard as a whole under the effect of first elastic component 1, because of third connecting rod 5 can't rotate, and the motion process of underactuated finger this moment is that fingertip 1, first connecting rod 2, second connecting rod 3, triangle connecting rod 4 rotate around the articulated department of first connecting rod 2 and third connecting rod 5. When the first connecting rod 2 is contacted with the sphere, the first connecting rod 2 cannot rotate continuously, at the moment, the three-hole connecting rod 6 transmits the power of the fifth connecting rod 9 to push the finger tips 1, the second connecting rod 3 and the triangular connecting rod 4 to move by overcoming the tensile force of the first elastic piece 13, and the finger tips 1 rotate relative to the first connecting rod 2. When the fingertip 1 is in contact with the spherical surface, the grasping of the sphere with a large volume is completed as shown in fig. 4.
EXAMPLE III
As shown in fig. 1, 2, 5 and 6, in one embodiment of the present invention, when a cylindrical object is grasped, the translation ring 10 is driven by the driving link 11 to translate along the rack upright 12, so as to push the fifth link 9 to move. Under the drive of the fifth connecting rod 9, the three-hole connecting rod 6 moves, at this time, the fingertip 1, the first connecting rod 2, the second connecting rod 3, the triangular connecting rod 4, the third connecting rod 5, the three-hole connecting rod 6 and the fourth connecting rod 7 form a whole under the action of the first elastic piece 13 and the second elastic piece 14, and the third connecting rod 5 and the fourth connecting rod 7 are hinged with the adaptive limiting mechanism 8, so that the underactuated finger integrally rotates around the adaptive limiting mechanism 8 under the drive of the fifth connecting rod 9. As shown in fig. 5, when the third connecting rod 5 contacts the cylinder, one of the fingers contacts the cylinder in a surface contact manner, after the third connecting rod 5 contacts the cylinder, the third connecting rod 5 cannot rotate continuously, and at this time, the three-hole connecting rod 6, the fourth connecting rod 7 continue to move under the action of overcoming the second elastic member 14, and in the moving process, the fingertip 1, the first connecting rod 2, the second connecting rod 3, and the triangular connecting rod 4 can still be regarded as a whole under the action of the first elastic member 13, and because the third connecting rod 5 cannot rotate, the moving process of the whole is that the fingertip 1, the first connecting rod 2, the second connecting rod 3, and the triangular connecting rod 4 rotate around the hinge joint of the first connecting rod 2 and the third connecting rod 5. When the first connecting rod 2 is contacted with the cylindrical surface, the first connecting rod 2 cannot rotate continuously, and at the moment, the three-hole connecting rod 6 transmits the power of the fifth connecting rod 9 to push the finger tip 1 to rotate relative to the first connecting rod 2. The grasping is completed when the fingertip 1 comes into contact with the cylindrical surface.
The remaining two fingers of the manipulator have only borderlines in contact with the cylindrical surface, and under the pushing of the prime mover 11, the under-actuated finger deflects against the force of the reset piece 22 in the self-adaptive limiting mechanism 8 until the third connecting rod 5 is completely contacted with the cylindrical surface of the cylinder, when the third connecting rod 5 is contacted with the cylindrical surface, the third connecting rod 5 cannot rotate continuously, at the moment, the triangular connecting rod 4, the three-hole connecting rod 6 and the fourth connecting rod 7 continue to move under the action of overcoming the acting force of the second elastic piece 14, and the fingertip 1, the first connecting rod 2, the second connecting rod 3 and the triangular connecting rod 4 can still be regarded as a whole under the action of the first elastic piece 13 in the moving process, and because the third connecting rod 5 cannot rotate, the movement process of the whole is that the fingertip 1, the first connecting rod 2, the second connecting rod 3 and the triangular connecting rod 4 rotate around the hinged part of the first connecting rod 2 and the third connecting rod 5. When the first connecting rod 2 is contacted with the cylindrical surface, the first connecting rod 2 cannot rotate continuously, at the moment, the three-hole connecting rod 6 transmits the power of the fifth connecting rod 9, the fingertip 1, the second connecting rod 3 and the triangular connecting rod 4 are pushed to move by overcoming the pulling force of the first elastic piece 13, and the fingertip 1 rotates relative to the first connecting rod 2. When the fingertip 1 comes into contact with the cylindrical surface, the gripping of the cylindrical object is completed as shown in fig. 6.
In the first to third embodiments, after the grasping is finished, the driving member 11 moves in the opposite direction, the above components move in the opposite direction, and the manipulator can return to the original shape under the action of the first elastic member 13 and the second elastic member 14.
It will be understood by those skilled in the art that the foregoing is only a preferred embodiment of the present invention, and is not intended to limit the invention, and that any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (10)
1. An under-actuated self-adaptive manipulator based on metamorphic principle is characterized by comprising an under-actuated finger, a frame, a self-adaptive limiting mechanism (8), a translation ring (10) and a driving link (11);
the self-adaptive limiting mechanisms (8) are arranged on the base of the rack in a triangular arrangement, and rack upright columns (12) are arranged on the lower portion of the base and correspond to the self-adaptive limiting mechanisms (8);
the translation ring (10) is sleeved on the rack upright post (12), the motive power piece (11) is arranged at the bottom of the translation ring (10), and the translation ring (10) is driven to move up and down and rotate along the rack upright post (12);
the under-actuated finger is hinged to the self-adaptive limiting mechanism (8) and can rotate along the self-adaptive limiting mechanism (8); one end of the under-actuated finger is hinged to the translation ring (10) through a fifth connecting rod (9).
2. The metamorphic principle-based under-actuated adaptive manipulator is characterized in that the under-actuated fingers comprise fingertips (1), first fingers, triangular connecting rods (4) and second fingers; one end of the first finger part is hinged with the fingertip (1), and the other end of the first finger part is hinged with the triangular connecting rod (4); one end of the second finger part is hinged to the triangular connecting rod (4), the other end of the second finger part is hinged to the self-adaptive limiting mechanism (8), and the outer end part of the second finger part is further hinged to the fifth connecting rod (9).
3. An under-actuated adaptive manipulator based on metamorphic principle according to claim 2, characterized in that the first finger comprises a first link (2) and a second link (3); one end of the first connecting rod (2) is hinged with the fingertip (1), and the other end of the first connecting rod is hinged with the first end part of the triangular connecting rod (4); one end of the second connecting rod (3) is hinged with the fingertip (1), and the other end of the second connecting rod is hinged with the second end part of the triangular connecting rod (4).
4. An under-actuated adaptive manipulator based on metamorphic principle as claimed in claim 3, characterized in that the second finger comprises a third link (5), a three-hole link (6) and a fourth link (7); one end of the third connecting rod (5) is hinged with the first end part of the triangular connecting rod (4), and the other end of the third connecting rod is hinged with the self-adaptive limiting mechanism (8); the first end of the three-hole connecting rod (6) is hinged with the third end of the triangular connecting rod (4), and the second end of the three-hole connecting rod (6) is hinged with the fifth connecting rod (9); and two ends of the fourth connecting rod (7) are respectively hinged to the self-adaptive limiting mechanism (8) and the third end of the three-hole connecting rod (6).
5. The under-actuated adaptive manipulator based on the metamorphic principle as claimed in claim 4, further comprising a reset mechanism for realizing the extending reset action after the grabbing action.
6. An under-actuated adaptive manipulator based on metamorphic principle as claimed in claim 5, characterized in that the reset mechanism comprises a first elastic member (13) and a second elastic member (14); two ends of the first elastic piece (13) are respectively connected to the fingertips (1) and the second connecting rod (3); two ends of the second elastic piece (14) are respectively connected with the third connecting rod (5) and the three-hole connecting rod (6).
7. An under-actuated adaptive manipulator based on metamorphic principle according to claim 6, characterized in that the first elastic member (13) and the second elastic member (14) are both springs.
8. The under-actuated adaptive manipulator based on metamorphic principle as claimed in claim 2 is characterized in that the adaptive limiting mechanism (8) comprises a chassis (21), a fixing member (23) and a hinged base (24); the chassis (21) is fixedly arranged on the base of the rack through the fixing piece (23), and the hinged base (24) is arranged in the chassis (21) and connected with the fixing piece (23).
9. An under-actuated adaptive manipulator based on metamorphic principle as claimed in claim 8, characterized in that the adaptive limiting mechanism (8) further comprises a reset member (22), the reset member (22) is mounted on the fixing member (23) and located between the chassis (21) and the hinged base (24); the chassis (21) is provided with a limiting groove, and two ends of the reset piece (22) are positioned in the limiting groove.
10. An under-actuated adaptive manipulator based on metamorphic principle according to claim 9 characterized in that the reset piece (22) is a torsion spring.
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| CN202110856565.XA CN113510741A (en) | 2021-07-28 | 2021-07-28 | Under-actuated self-adaptive manipulator based on metamorphic principle |
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| CN202110856565.XA CN113510741A (en) | 2021-07-28 | 2021-07-28 | Under-actuated self-adaptive manipulator based on metamorphic principle |
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| CN114407053A (en) * | 2022-03-24 | 2022-04-29 | 武汉科技大学 | Folding and unfolding manipulator based on metamorphic principle |
| CN115723166A (en) * | 2022-12-12 | 2023-03-03 | 中国科学院空间应用工程与技术中心 | Under-actuated self-adaptive manipulator for grabbing rocks on star surface |
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Application publication date: 20211019 |