CN114770599B - Experimental device for measuring bearing capacity and clamping force of fin structure flexible manipulator - Google Patents
Experimental device for measuring bearing capacity and clamping force of fin structure flexible manipulator Download PDFInfo
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- CN114770599B CN114770599B CN202210410633.4A CN202210410633A CN114770599B CN 114770599 B CN114770599 B CN 114770599B CN 202210410633 A CN202210410633 A CN 202210410633A CN 114770599 B CN114770599 B CN 114770599B
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- 238000006073 displacement reaction Methods 0.000 abstract description 30
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0095—Means or methods for testing manipulators
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Abstract
The invention discloses an experimental device for measuring the bearing capacity and clamping force of a flexible manipulator with a fin structure. The device comprises a device frame, a bottom plate, a fin structure flexible manipulator and a sliding component; the bottom plate is vertically and fixedly installed on one side in the device frame, the sliding component is horizontally installed on the upper portion in the device frame and fixedly connected with the bottom plate, the manipulator is fixedly installed on the sliding component parallel to the direction of the bottom plate, and the component to be tested is arranged between the bottom plate and the manipulator and is simultaneously connected to the bottom plate and the manipulator in a contact mode. In the process of measuring the bearing capacity by using the experimental device, the loading of the manipulator is realized only by increasing the quality of water in the water bottle, so that the loading process is simple and feasible, and the experimental cost is greatly reduced; the experimental device is used for measuring the bearing capacity, the displacement of the manipulator is adjusted by the sliding block, and the clamping force value of the manipulator under different displacement is obtained, so that the measuring process is simple and convenient to operate, and the measuring result is more accurate.
Description
Technical Field
The invention relates to a measuring device in the field of mechanical arm bearing capacity, in particular to an experimental device for measuring the bearing capacity and clamping capacity of a fin structure flexible mechanical arm.
Background
With the progress of technology and the increase of labor prices, the robot industry is rapidly developing. Compared with the traditional rigid manipulator, the flexible manipulator has great advantages in rapid grabbing of vulnerable objects. On the basis of the same external force, the deformation of the fin structure manipulator is larger than that of the traditional flexible manipulator, the development prospect is bright, and the application range and the mode are extremely wide.
In order to achieve the goal that the fin structure flexible manipulator is used more widely, performance verification needs to be performed on the manipulator under different preconditions and design parameters, so that an optimal design scheme is determined. At present, in the measuring device for the bearing capacity of the flexible manipulator with the fin structure, the current situations of high cost, complex device and low efficiency generally exist, and quantitative indexes cannot be provided for the bearing capacity of the flexible manipulator. It is difficult to meet the increasing experimental verification requirements for the bearing capacity of the fin structure flexible manipulator.
Disclosure of Invention
In order to solve the above problems, the present invention aims to provide an experimental device for measuring the bearing capacity of a flexible manipulator with a fin structure, which can increase the bearing capacity of the manipulator by only increasing the mass of water in a water bottle, thereby obtaining the maximum bearing capacity of the manipulator.
The technical scheme adopted by the invention is as follows:
1. experimental device for measure flexible manipulator bearing capacity of fin structure and clamp power:
the device comprises a device frame, a bottom plate, a fin structure flexible manipulator and a sliding component; the device comprises a device frame, a bottom plate, a sliding component, a fin structure flexible manipulator, a fin structure mechanical arm and an experimental component.
The sliding component comprises a manipulator clamp, a sliding block, a locking component, a driving component, a rack, a lower cover, a bracket and a dovetail sliding table bottom plate; one end of the support is fixedly connected to the device frame, the other end of the support is fixedly connected to the bottom plate through a dovetail sliding table bottom plate, the lower cover is fixedly arranged at the lower part of the support in parallel with the bottom surface of the support, two convex tracks parallel to the lower cover are arranged at intervals on the bottom surface of the lower cover, and the rack is fixedly arranged on the lower cover and is just clamped in a strip-shaped groove formed between the two convex tracks; the sliding block is arranged below the lower cover and is movably connected with the lower cover; the two sides of the top of the sliding block are respectively provided with a strip-shaped groove parallel to the rack, and the sliding block is respectively connected with the outer sides of the two convex rails of the lower cover in a sliding manner through the two strip-shaped grooves of the sliding block; the two sides of the sliding block, which are parallel to the racks, are opposite to each other and are provided with the same through holes, the driving assembly penetrates through the two through holes of the sliding block and is movably connected with the sliding block, the driving assembly is simultaneously meshed and connected with the racks, the locking assembly is fixedly arranged in one bar-shaped groove of the sliding block, and the fin structure flexible manipulator is fixedly arranged at the lower part of the sliding block through the manipulator clamp;
the driving assembly mainly comprises a gear shaft, a shaft sleeve, a gasket and a handle, wherein the shaft sleeve, the gasket and the handle are sequentially in contact connection and coaxially sleeved at one end of the gear shaft, the handle is arranged at the tail end of one end of the gear shaft, the driving assembly is movably connected with the sliding block through the shaft sleeve, and the driving assembly is in meshed connection with the rack through the gear shaft; the other end of the gear shaft sequentially penetrates through the two through holes formed in the sliding block, and the gear shaft is not in contact with the sliding block.
The locking assembly mainly comprises a locking nut, a spanner and a locking bolt, wherein the locking nut and the spanner are coaxially sleeved on the locking bolt, a thread groove is formed in a strip-shaped groove of the slider far away from the handle, the locking assembly is fixed in the strip-shaped groove of the slider far away from the handle, and the locking assembly is meshed and connected with the thread groove through the locking bolt.
The to-be-tested component is a loading component or a pressure component, and the loading component is arranged between the bottom plate and the fin structure flexible manipulator in parallel to the direction of the bottom plate; the loading assembly comprises a grabbing object, a ring hook, a shell and a water bottle; the water bottle is fixedly connected to one end of the shell, the grabbing object is fixedly connected to the other end of the shell through the ring hook, and the loading assembly is simultaneously in contact connection with the bottom plate and the fin structure flexible manipulator through the grabbing object.
The pressure component comprises a pressure sensor, a sensor support, a direct-current stabilized power supply and an oscilloscope; the pressure sensor is fixedly arranged on the bottom plate through the sensor support and is electrically connected with the direct-current stabilized power supply and the oscilloscope.
The flexible manipulator of the fin structure is integrally of a fin structure, and a plurality of strip-shaped cushions which are uniformly distributed at horizontal intervals are arranged on the side surface, in contact with the grabber, of the flexible manipulator of the fin structure.
The lower cover is provided with scales in the direction vertical to the bottom plate.
2. The experimental method for measuring the bearing capacity comprises the following steps:
s1: the load which can be born by the fin structure flexible manipulator is measured by using a tension meter;
s2: the flexible manipulator of the fin structure is controlled by the sliding block to horizontally move along the lower cover, so that the flexible manipulator of the fin structure is positioned at a certain scale on the sliding component, and a grabbing object in the loading component is just clamped between the bottom plate and the flexible manipulator of the fin structure;
s3: adding water with the same quality into the water bottle for multiple times;
s4: when the grabber just falls off, stopping adding water, and simultaneously recording the total water added in the water bottle, so that the bearing capacity of the fin structure flexible manipulator can be measured;
s5: and (3) changing the hardness of the fin structure flexible manipulator, repeating the steps S1-S4, and recording the bearing capacity measured at the same position of the fin structure flexible manipulator with different hardness.
3. The experimental method for measuring the clamping force comprises the following steps:
s1: before the experiment starts, calibrating the pressure sensor by using a standard weight to obtain a relational expression between the clamping force and the voltage of the pressure sensor;
s2: firstly, driving the fin structure flexible manipulator to move to an initial position by utilizing the sliding block, enabling the fin structure flexible manipulator to be in contact with the pressure sensor, enabling the fin structure flexible manipulator not to apply clamping force to the pressure sensor, and recording the position at the moment; then the flexible manipulator of the fin structure gradually extrudes the pressure sensor, the voltage displayed by the oscilloscope is recorded once when the flexible manipulator moves by the same displacement, the steps are repeated at least three times, and the clamping force is calculated according to the relation between the clamping force and the voltage of the pressure sensor obtained in the step S1; finally, drawing a relation graph between the clamping force and the displacement by combining experimental data of the displacement and the clamping force;
s3: fitting the relation graph of the clamping force and the displacement obtained in the step S2 to obtain a relation between the clamping force and the displacement of the flexible manipulator with the fin structure.
The beneficial effects of the invention are as follows:
according to the experimental device for measuring the bearing capacity of the flexible manipulator, disclosed by the invention, the loading of the manipulator is realized by increasing the mass of water in the water bottle, compared with a traditional bearing capacity measuring device, the cost is greatly reduced, raw materials required by an experiment are easy to obtain, and the loading by the water bottle can ensure that the bearing direction of the flexible manipulator is always in the vertical direction.
According to the experimental device for measuring the bearing capacity of the flexible manipulator, the flexible manipulator can be moved through the sliding component with scales, and the deformation degree of the manipulator is controlled by controlling the displacement of the manipulator, so that the bearing capacity of the manipulator under different deformation degrees can be measured.
The experimental device for measuring the bearing capacity of the flexible manipulator has the advantages of simple structure, visual and clear principle, simple and convenient installation and operation process and capability of effectively improving experimental efficiency.
According to the experimental device for measuring the clamping force of the flexible manipulator, the relation between the pressure born by the pressure sensor and the voltage reading of the sensor is calibrated through the pre-experiment, and finally, the acquisition of the relation between the pressure born by the pressure sensor and the displacement of the manipulator is realized.
According to the experimental device for measuring the gripping force of the flexible manipulator, disclosed by the invention, the movement of the manipulator is realized by utilizing the sliding component with scales, the displacement of the manipulator can be accurately controlled, and the quantitative control of the gripping displacement of the manipulator can be realized.
Drawings
FIG. 1 is a schematic diagram of an experimental device for measuring the bearing capacity of a manipulator;
FIG. 2 is a schematic view of a sliding assembly;
FIG. 3 is a schematic diagram of a loading assembly;
fig. 4 is a schematic structural diagram of an experimental device for measuring the clamping force of a manipulator.
The figure shows: 1. a device frame; 2. a bottom plate; 3. flexible manipulator of fin structure; 4. a sliding assembly; 4-1, a manipulator clamp; 4-2, sliding blocks; 4-3, locking the nut; 4-4, a spanner; 4-5, locking the bolt; 4-6, gear shaft; 4-7, shaft sleeve; 4-8, a gasket; 4-9, a handle; 4-10, a rack; 4-11, lower cover; 4-12, a bracket; 4-13, a dovetail sliding table bottom plate; 5. loading the assembly; 5-1, grabbing objects; 5-2, a loop hook; 5-3, a shell; 5-4, water bottle; 6. clamping force experimental device frame; 7. a pressure sensor; 8. a sensor mount; 9. a DC stabilized power supply; 10. an oscilloscope.
Detailed Description
The experimental device for measuring the bearing capacity and the clamping force of the fin structure flexible manipulator provided by the invention is respectively described below with reference to the accompanying drawings.
As shown in fig. 1, the invention comprises a device frame 1, a bottom plate 2, a fin structure flexible manipulator 3 and a sliding component 4; the bottom plate 2 is vertically and fixedly installed on one side in the device frame 1, the sliding component 4 is horizontally installed on the upper portion in the device frame 1, the sliding component 4 is fixedly connected with the bottom plate 2, the fin structure flexible manipulator 3 is fixedly installed on the sliding component 4 in parallel to the direction of the bottom plate 2, the component to be tested is arranged between the bottom plate 2 and the fin structure flexible manipulator 3, and the component to be tested is simultaneously connected to the bottom plate 2 and the fin structure flexible manipulator 3 in a contact mode.
Specifically, the device frame 1 is composed of fifteen square steel pipes, displacement of the bottom plate 2 in the horizontal direction and rotation around the vertical axis are fixed by four square steel pipes on the side edge of the frame 1, and displacement in the vertical direction and rotation around the horizontal axis are fixed by two square steel pipes on the bottom of the frame 1 under the action of gravity.
As shown in fig. 2, the sliding component 4 comprises a manipulator clamp 4-1, a sliding block 4-2, a locking component, a driving component, a rack 4-10, a lower cover 4-11, a bracket 4-12 and a dovetail sliding table bottom plate 4-13; one end of a bracket 4-12 is fixedly connected to the device frame 1, the other end of the bracket 4-12 is fixedly connected to the bottom plate 2 through a dovetail sliding table bottom plate 4-13, a lower cover 4-11 is fixedly arranged at the lower part of the bracket 4-12 parallel to the bottom surface of the bracket 4-12, two convex tracks parallel to the lower cover 4-11 are arranged at intervals on the bottom surface of the lower cover 4-11, and a rack 4-10 is fixedly arranged on the lower cover 4-11 and is just clamped in a strip-shaped groove formed between the two convex tracks; the sliding block 4-2 is arranged below the lower cover 4-11 and is movably connected with the lower cover 4-11; the two sides of the top of the sliding block 4-2 are respectively provided with a strip-shaped groove parallel to the rack 4-10, and the sliding block 4-2 is respectively connected with the outer sides of the two convex rails of the lower cover 4-11 in a sliding way through the two strip-shaped grooves of the sliding block 4-2; the two sides of the sliding block 4-2, which are parallel to the racks 4-10, are provided with the same through holes respectively, the driving component penetrates through the two through holes of the sliding block 4-2 and is movably connected with the sliding block 4-2, the driving component is simultaneously meshed with the racks 4-10, the locking component is fixedly arranged in a strip-shaped groove of the sliding block 4-2, and the fin-structure flexible manipulator 3 is fixedly arranged at the lower part of the sliding block 4-2 through the manipulator clamp 4-1;
the driving component mainly comprises a gear shaft 4-6, a shaft sleeve 4-7, a gasket 4-8 and a handle 4-9, wherein the shaft sleeve 4-7, the gasket 4-8 and the handle 4-9 are sequentially connected in a contact mode and coaxially sleeved at one end of the gear shaft 4-6, the handle 4-9 is arranged at the tail end of one end of the gear shaft 4-6, the driving component is movably connected with the sliding block 4-2 through the shaft sleeve 4-7, and the driving component is in meshed connection with the rack 4-10 through the gear shaft 4-6; the other end of the gear shaft 4-6 sequentially passes through two through holes formed in the sliding block 4-2, and the gear shaft 4-6 is not contacted with the sliding block 4-2.
The locking component mainly comprises a locking nut 4-3, a spanner 4-4 and a locking bolt 4-5, wherein the locking nut 4-3 and the spanner 4-4 are coaxially sleeved on the locking bolt 4-5, a second thread groove is formed in a strip-shaped groove of the sliding block 4-2 far away from the handle 4-9, and the locking component is fixed in the strip-shaped groove of the sliding block 4-2 far away from the handle 4-9 and is meshed and connected with the second thread groove through the locking bolt 4-5. Pulling the wrench 4-4 to enable the locking bolt 4-5 to be continuously screwed in along the second thread groove, enabling the side surface, provided with the second thread groove, of the sliding block 4-2 to be far away from the corresponding convex track, enabling the other side surface of the sliding block 4-2 to be continuously extruded towards the corresponding convex track, and further locking the sliding block 4-2 in a fixed position.
The component to be tested is a loading component 5 or a pressure component, and the loading component 5 is arranged between the bottom plate 2 and the fin structure flexible manipulator 3 in parallel to the direction of the bottom plate 2; as shown in fig. 3, the loading assembly 5 includes a gripper 5-1, a loop hook 5-2, a housing 5-3, and a water bottle 5-4; the water bottle 5-4 is fixedly connected to one end of the shell 5-3, the grabbing object 5-1 is fixedly connected to the other end of the shell 5-3 through the ring hook 5-2, and the loading assembly 5 is simultaneously in contact connection with the bottom plate 2 and the fin structure flexible manipulator 3 through the grabbing object 5-1. Specifically, both ends of the ring hook 5-2 are provided with a notch, and the ring hook 5-2 is respectively connected to the grabber 5-1 and the housing 5-3 through the two notches.
As shown in fig. 4, the pressure assembly comprises a pressure sensor 7, a sensor support 8, a direct current stabilized power supply 9 and an oscilloscope 10; the pressure sensor 7 is fixedly arranged on the bottom plate 2 through a sensor support 8, and the pressure sensor 7 is electrically connected with a direct-current stabilized power supply 9 and an oscilloscope 10.
Preferably, the fin structure flexible manipulator 3 is integrally of a fin structure, and a plurality of strip-shaped cushions which are uniformly distributed at horizontal intervals are arranged on the side surface, in contact with the grabber 5-1, of the fin structure flexible manipulator 3.
Preferably, the lower cover 4-11 is graduated in a direction perpendicular to the base plate 2.
The experimental method for measuring the bearing capacity specifically comprises the following steps:
s1: the load that flexible manipulator 3 of utilizing the tension meter to measure fin structure can bear specifically is: the tension meter is connected to the grabber 5-1 through a loop hook 5-2, tension is applied to the grabber 5-1 downwards by the tension meter parallel to the bottom plate 2, and when the grabber 5-1 clamped between the fin structure flexible manipulator 3 and the bottom plate 2 is just pulled down, the indication of the tension meter, namely the load which the fin structure flexible manipulator 3 can bear, is recorded;
s2: the sliding block 4-2 is utilized to control the fin structure flexible manipulator 3 to horizontally move along the lower cover 4-11, so that the fin structure flexible manipulator 3 is positioned at a certain scale on the sliding component 4, and the grabber 5-1 in the loading component 5 is just clamped between the bottom plate 2 and the fin structure flexible manipulator 3;
s3: adding water with the same mass into the water bottle 5-4 for multiple times;
s4: when the grabber 5-1 just falls off, stopping adding water, and simultaneously recording the total water added in the water bottle 5-4, so that the bearing capacity of the fin structure flexible manipulator 3 can be measured;
s5: and (3) changing the hardness of the fin structure flexible manipulator 3, repeating the steps S1-S4, and recording the bearing capacity measured at the same position of the fin structure flexible manipulator 3 with different hardness.
Now, a bearing capacity measurement experiment device of a flexible manipulator for measuring a fin structure is described by taking a bearing capacity measurement experiment as an example: the experimental site was located in a laboratory at an ambient temperature of 20 ℃):
the grabbing object 5-1 is fixed between the fin structure flexible manipulator 3 and the bottom plate 2 by the fine adjustment fin structure flexible manipulator 3, an arbitrary position meeting the above conditions is selected, and the scale of the lower cover 4-11 corresponding to the position at the moment is recorded to be 12mm; and after control, the position of the fin structure flexible manipulator 3 in each experiment is 12mm from the scale of the lower cover 4-11, and then the bearing capacity of the fin structure flexible manipulator 3 is roughly measured by a tension meter.
And then connecting the water bottle 5-4 to the grabbing object 5-1, and gradually adding water with the mass of 5g into the water bottle 5-4 to continuously increase the bearing capacity of the fin structure flexible manipulator 3 until the grabbing object 5-1 just falls off, so that the bearing capacity of the fin structure flexible manipulator 3 at the moment can be obtained.
In order to measure the bearing capacity of the fin structure flexible manipulator 3 with different hardness, the fin structure flexible manipulator 3 with the hardness of 60 degrees, 70 degrees, 80 degrees and 95 degrees is selected for experiment. Experimental data records are shown in the following table:
bearing weight of flexible manipulator with fin structures of different hardness
The experimental result shows that the bearing weight of the fin structure flexible manipulator 3 increases along with the increase of the hardness, and the fin structure flexible manipulator 3 is considered to meet the grabbing requirements of various environments and various objects, meanwhile, the structural strength of the fin structure flexible manipulator is ensured to meet the use requirement as much as possible, and the larger grabbing force and bearing capacity are achieved through a certain rigidity performance, so that Shore A80-degree rubber is selected as the processing material hardness of the fin structure flexible manipulator 3 in design.
The experimental method for measuring the clamping force specifically comprises the following steps:
s1: before the experiment starts, the standard weight is used for calibrating the pressure sensor 7, and a relational expression between the clamping force and the voltage of the pressure sensor 7 is obtained. The method comprises the following steps: the standard weights are used as loads to sequentially apply pressure to the pressure sensor 7 from small to large, the voltage at the moment is displayed on the oscilloscope 10, the steps are repeated three times, and then an average value is obtained to draw a voltage-clamping force curve diagram of the pressure sensor 7. Fitting the obtained voltage magnitude-clamping force magnitude curve to obtain a relational expression between the clamping force magnitude and the voltage magnitude of the pressure sensor 7, and accurately measuring the clamping force magnitude of the manipulator 3 by using the pressure sensor 7.
S2: firstly, a sliding block 4-2 is utilized to drive a fin structure flexible manipulator 3 to move to an initial position, so that the fin structure flexible manipulator 3 is in contact with a pressure sensor 7, the fin structure flexible manipulator 3 does not apply clamping force to the pressure sensor 7, and the position at the moment is recorded; then the flexible manipulator 3 with the fin structure gradually extrudes the pressure sensor 7, the voltage displayed by the oscilloscope 10 is recorded once when the flexible manipulator moves by the same displacement, the steps are repeated at least three times, and the clamping force is obtained according to the relation between the clamping force and the voltage of the pressure sensor 7 obtained in the step S1; and finally, drawing a relation graph between the clamping force and the displacement by combining experimental data of the displacement and the clamping force.
S3: fitting the relation graph of the clamping force and the displacement obtained in the step S2 to obtain a relation between the clamping force and the displacement of the flexible manipulator 3 with the fin structure.
Now take some clamp force measurement experiments as an example to the flexible manipulator clamp force experimental apparatus for measuring fin structures, the following description is made: the experimental site was located in a laboratory at an ambient temperature of 20 ℃):
1) Before formally starting an experiment, calibrating the pressure sensor 7, sequentially applying standard weights with the specifications of 10g, 20g, 50g, 100g, 200g, 300g, 400g and 500g to a receiving end of the pressure sensor 7 from small to large, repeating the steps for three times, and drawing a curve of voltage magnitude displayed by the oscilloscope 10 along with clamping force magnitude according to experimental data.
Fitting the curve of the voltage value displayed by the oscilloscope 10 along with the change of the clamping force to obtain an equation of the voltage value displayed by the oscilloscope 10 and the clamping force. Wherein, the calibration results are shown in the following table:
calibration results
The equation for the voltage magnitude and the clamping force magnitude displayed by oscilloscope 10 is:
U＝aM+b
wherein U is the output voltage of the sensor, and the unit is mV; a is a sensitivity coefficient, and a value of 0.2369mV/g is obtained through fitting; m is the mass of the weight, and the unit is g; b is the intercept of the fitting equation, which is-0.3011 mV.
From the gravitational acceleration g=9.8n/kg, the relationship between the voltage and the clamping force displayed by the oscilloscope 10 is:
U＝cF+d (1)
wherein,d= -0.30mv, f is the amount of clamping force exerted on the pressure sensor 7, in N.
2) The mounting clamp force taking experimental device is characterized in that a pressure sensor 7 is placed on a sensor support 8, the receiving end of the pressure sensor 7 is aligned to the geometric center of a strip-shaped soft cushion of the fin structure flexible manipulator 3, and the pressure sensor 7 is electrically connected with a direct-current stabilized power supply 9 and an oscilloscope 10.
3) The fin structure flexible manipulator 3 is moved through the sliding component 4, so that a strip cushion of the fin structure flexible manipulator 3 is just contacted with the pressure sensor 7 but not extruded; the fin structure flexible manipulator 3 is then moved by the slide assembly 4 and once per 1mm distance of movement, a reading of the oscilloscope 10 is recorded. In the experiment, the upper limit measured value of the pressure sensor is 15N, and correspondingly, the maximum measurable manipulator displacement in the experiment is not more than 30mm, otherwise, the clamping force of the manipulator under the larger deformation condition is more than 15N, the steps are repeated for 3 times, the recorded data are subjected to mean value processing, and finally, the clamping force of the flexible manipulator 3 with the fin structure is calculated according to the voltage displayed by the oscilloscope 10.
The relationship between the voltage and the clamping force of the oscilloscope 10 according to the formula (1) is:
since U is the voltage level displayed by the oscilloscope 10 and has a unit of mV, the magnitude of the clamping force applied to the pressure sensor 7 can be directly calculated according to the voltage level displayed by the oscilloscope 10.
4) In the relation graph in the experiment, when the displacement is not more than 13mm, the clamping force and the displacement are basically in a linear relation, the deformation of the flexible manipulator is mainly from the deformation of an external cushion structure before 13mm, a certain regularity based on cushion characteristics is shown, after the displacement exceeds 13mm, the manipulator main body is also subjected to larger nonlinear deformation under pressure, so that the relation between the pressure and the displacement is not a simple approximately linear change rule any more, and the data within the displacement of 13mm are enough to cover the use requirement when the fragile object is grabbed, so that only the part of data is intercepted for analysis. Drawing a relation graph of the clamping force and the displacement by combining experimental data of the displacement and the clamping force, fitting the obtained relation graph of the clamping force and the displacement, and obtaining the relation between the clamping force and the displacement of the fin structure flexible manipulator 3 as follows:
F＝0.3555x
wherein x represents the displacement of the fin structure flexible manipulator 3, and the unit is mm.
Therefore, the invention can control the clamping force applied by the fin structure flexible manipulator 3 to the clamping object by adjusting the displacement of the fin structure flexible manipulator 3 by utilizing the sliding block 4-2.
Claims (5)
1. An experimental method for measuring the bearing capacity of a flexible manipulator with a fin structure is characterized by comprising the following steps:
the method adopts an experimental device for measuring the bearing capacity of the fin structure flexible manipulator, wherein the experimental device comprises a frame (1), a bottom plate (2), the fin structure flexible manipulator (3) and a sliding component (4); the device comprises a bottom plate (2), a sliding component (4), a fin structure flexible manipulator (3) and a fin structure flexible manipulator (3), wherein the bottom plate (2) is vertically and fixedly arranged on one side in a device frame (1), the sliding component (4) is horizontally arranged on the upper part in the device frame (1), the sliding component (4) is fixedly connected with the bottom plate (2), the fin structure flexible manipulator (3) is fixedly arranged on the sliding component (4) in parallel to the direction of the bottom plate (2), the component to be tested is arranged between the bottom plate (2) and the fin structure flexible manipulator (3), and the component to be tested is simultaneously connected to the bottom plate (2) and the fin structure flexible manipulator (3) in a contact manner;
the sliding assembly (4) comprises a manipulator clamp (4-1), a sliding block (4-2), a locking assembly, a driving assembly, a rack (4-10), a lower cover (4-11), a bracket (4-12) and a dovetail sliding table bottom plate (4-13);
the component to be tested is a loading component (5), and the loading component (5) is arranged between the bottom plate (2) and the fin structure flexible manipulator (3) in parallel to the direction of the bottom plate (2); the loading assembly (5) comprises a grabbing object (5-1), a ring hook (5-2), a shell (5-3) and a water bottle (5-4); the water bottle (5-4) is fixedly connected to one end of the shell (5-3), the grabbing object (5-1) is fixedly connected to the other end of the shell (5-3) through the ring hook (5-2), and the loading assembly (5) is simultaneously in contact connection with the bottom plate (2) and the fin structure flexible manipulator (3) through the grabbing object (5-1);
the experimental method for measuring the bearing capacity specifically comprises the following steps:
s1: the load born by the fin structure flexible manipulator (3) is measured by using a tension meter;
s2: the flexible manipulator (3) with the fin structure is controlled by the sliding block (4-2) to horizontally move along the lower cover (4-11), so that the flexible manipulator (3) with the fin structure is positioned at a certain scale on the sliding component (4), and a grabbing object (5-1) in the loading component (5) is just clamped between the bottom plate (2) and the flexible manipulator (3) with the fin structure;
s3: adding water with the same quality into the water bottle (5-4) for multiple times;
s4: when the grabber (5-1) just falls off, stopping adding water, and simultaneously recording the total water added in the water bottle (5-4), so that the bearing capacity of the fin structure flexible manipulator (3) can be measured;
s5: and (3) changing the hardness of the fin structure flexible manipulator, repeating the steps S1-S4, and recording the bearing capacity measured at the same position of the fin structure flexible manipulator (3) with different hardness.
2. The experimental method for measuring the bearing capacity of the flexible manipulator of the fin structure according to claim 1, wherein the experimental method comprises the following steps: one end of the support (4-12) is fixedly connected to the device frame (1), the other end of the support (4-12) is fixedly connected to the bottom plate (2) through a dovetail sliding table bottom plate (4-13), the lower cover (4-11) is fixedly arranged at the lower part of the support (4-12) in parallel with the bottom surface of the support (4-12), two convex tracks parallel to the lower cover (4-11) are arranged at intervals on the bottom surface of the lower cover (4-11), and the rack (4-10) is fixedly arranged on the lower cover (4-11) and is just clamped in a strip-shaped groove formed between the two convex tracks; the two sides of the sliding block (4-2) parallel to the racks (4-10) are provided with the same through holes respectively, the driving assembly penetrates through the two through holes of the sliding block (4-2) to be movably connected with the sliding block (4-2), the driving assembly is simultaneously meshed with the racks (4-10), the locking assembly is fixedly arranged in one bar-shaped groove of the sliding block (4-2), and the fin-structure flexible manipulator (3) is fixedly arranged at the lower part of the sliding block (4-2) through the manipulator clamp (4-1);
the driving assembly mainly comprises a gear shaft (4-6), a shaft sleeve (4-7), a gasket (4-8) and a handle (4-9), wherein the shaft sleeve (4-7), the gasket (4-8) and the handle (4-9) are sequentially in contact connection with one end of the same shaft sleeve mounted on the gear shaft (4-6), the handle (4-9) is arranged at the tail end of one end of the gear shaft (4-6), the driving assembly is movably connected with the sliding block (4-2) through the shaft sleeve (4-7), and the driving assembly is in meshed connection with the rack (4-10) through the gear shaft (4-6); the other end of the gear shaft (4-6) sequentially penetrates through two through holes formed in the sliding block (4-2), and the gear shaft (4-6) is not in contact with the sliding block (4-2).
3. The experimental method for measuring the bearing capacity of the fin structure flexible manipulator according to claim 2, wherein the experimental method comprises the following steps: the locking assembly mainly comprises a locking nut (4-3), a wrench (4-4) and a locking bolt (4-5), wherein the locking nut (4-3) and the wrench (4-4) are coaxially sleeved on the locking bolt (4-5), a thread groove is formed in a strip-shaped groove of the slider (4-2) far away from the handle (4-9), the locking assembly is fixed in the strip-shaped groove of the slider (4-2) far away from the handle (4-9), and the locking assembly is meshed and connected with the thread groove through the locking bolt (4-5).
4. The experimental method for measuring the bearing capacity of the flexible manipulator of the fin structure according to claim 1, wherein the experimental method comprises the following steps: the fin structure flexible manipulator (3) is integrally of a fin structure, and a plurality of strip-shaped cushions which are uniformly distributed at horizontal intervals are arranged on the side surface, in contact with the grabbing object (5-1), of the fin structure flexible manipulator (3).
5. The experimental method for measuring the bearing capacity of the flexible manipulator of the fin structure according to claim 1, wherein the experimental method comprises the following steps: the direction perpendicular to the bottom plate (2) on the lower cover (4-11) is marked with scales.
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