CN117021063A - Spring inhaul cable type bionic claw collaborative gripping method triggered by knee bending - Google Patents
Spring inhaul cable type bionic claw collaborative gripping method triggered by knee bending Download PDFInfo
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- CN117021063A CN117021063A CN202311148232.7A CN202311148232A CN117021063A CN 117021063 A CN117021063 A CN 117021063A CN 202311148232 A CN202311148232 A CN 202311148232A CN 117021063 A CN117021063 A CN 117021063A
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- 210000000078 claw Anatomy 0.000 title claims abstract description 146
- 238000005452 bending Methods 0.000 title claims abstract description 110
- 210000003127 knee Anatomy 0.000 title claims abstract description 104
- 239000011664 nicotinic acid Substances 0.000 title claims abstract description 95
- 238000000034 method Methods 0.000 title claims abstract description 29
- 230000001960 triggered effect Effects 0.000 title claims abstract description 9
- 230000007246 mechanism Effects 0.000 claims abstract description 74
- 238000005457 optimization Methods 0.000 claims abstract description 14
- 238000011217 control strategy Methods 0.000 claims abstract description 7
- 210000002414 leg Anatomy 0.000 claims description 30
- 210000004394 hip joint Anatomy 0.000 claims description 28
- 210000000629 knee joint Anatomy 0.000 claims description 27
- 210000001699 lower leg Anatomy 0.000 claims description 24
- 210000000689 upper leg Anatomy 0.000 claims description 21
- 210000000544 articulatio talocruralis Anatomy 0.000 claims description 15
- 210000002683 foot Anatomy 0.000 claims description 13
- 210000000988 bone and bone Anatomy 0.000 claims description 6
- 230000009471 action Effects 0.000 claims description 5
- 210000001503 joint Anatomy 0.000 claims description 5
- 238000004804 winding Methods 0.000 claims description 5
- 238000006073 displacement reaction Methods 0.000 claims description 4
- 239000004677 Nylon Substances 0.000 claims description 3
- 229920001778 nylon Polymers 0.000 claims description 3
- 208000000013 Hammer Toe Syndrome Diseases 0.000 claims description 2
- 230000001788 irregular Effects 0.000 abstract description 4
- 230000003068 static effect Effects 0.000 abstract description 3
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 244000023431 Proboscidea parviflora Species 0.000 description 13
- 235000019096 Proboscidea parviflora Nutrition 0.000 description 13
- 238000013461 design Methods 0.000 description 7
- 230000008569 process Effects 0.000 description 6
- 210000001694 thigh bone Anatomy 0.000 description 6
- 210000002303 tibia Anatomy 0.000 description 5
- 238000009434 installation Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 210000002435 tendon Anatomy 0.000 description 3
- 230000008602 contraction Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000009977 dual effect Effects 0.000 description 2
- 238000005265 energy consumption Methods 0.000 description 2
- 210000003205 muscle Anatomy 0.000 description 2
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- 230000009467 reduction Effects 0.000 description 2
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- 210000000459 calcaneus Anatomy 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 238000004146 energy storage Methods 0.000 description 1
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- 230000002035 prolonged effect Effects 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/126—Rotary actuators
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1612—Programme controls characterised by the hand, wrist, grip control
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Prostheses (AREA)
Abstract
The invention discloses a knee bending triggered spring inhaul cable type bionic claw collaborative gripping method, which is based on a bionic claw gripping body mechanism and comprises the following steps: according to the structural characteristics of the carrying aircraft, a bionic claw cooperative grasping mechanism based on a knee bending trigger mechanism and a ratchet locking mechanism is designed; establishing a spring inhaul cable driving mode and an inhaul cable linkage mechanism, and determining a grasping driving mechanism of a bionic claw cooperative grasping mechanism; establishing a bionic claw cooperative optimization model, and optimizing parameters of a bionic claw cooperative grasping mechanism; and controlling the gripping of the bionic claw cooperative gripping mechanism through a cooperative control strategy. Compared with the prior art, the invention can ensure the real-time performance of the grasp trigger, can realize continuous grasp under the condition of strong impact, is beneficial to improving the capturing capability of the aircraft on the dynamic and static targets and the inhabiting and landing capability on the irregular object plane, and can be widely carried on various aircrafts.
Description
Technical Field
The invention relates to the technical field of mechanical claws, in particular to a knee bending triggering spring inhaul cable type bionic claw collaborative gripping method.
Background
The mechanical claw is a claw-shaped mechanical device, can simulate the action process of a living body to automatically grasp and move an object or an operation tool, and is widely applied to the fields of industrial manufacture, surgical medical treatment, space exploration and the like at present.
With diversification of use scenes and complication of task execution, at present, simple grasping of mechanical claws is difficult to meet actual needs, and a multi-mechanical claw cooperative grasping technology is gradually focused, in particular a double-claw cooperative grasping technology simulating bird inhabitation and predation modes. For example, a pair of mechanical claws are additionally arranged on various existing aircrafts, and the object is automatically identified to trigger the gripping, so that the capturing capability of dynamic and static objects and the inhabiting and landing capability of irregular object planes are provided, the application scenes of the aircrafts can be greatly enriched, the landing conditions of the aircrafts can be widened, the hovering energy consumption can be saved, and the endurance time can be further prolonged; if the method is used in special environments such as jungle, the concealment of the aircraft can be obviously enhanced. Therefore, the research of the mechanical claw cooperation technology which is simple and reliable in principle and can assist various aircrafts to realize autonomous grasping has important significance.
Although the cooperative gripping thought of the mechanical claw is visual, a plurality of challenges still face when the mechanical claw is actually applied to various aircrafts, and a series of problems such as the cooperative installation of the mechanical claw and the aircrafts, the gripping driving design of the mechanical claw and the like are involved. Recently, patent CN 116495230a discloses a leg claw mechanism and a bionic mechanical leg claw device based on a quad-rotor unmanned helicopter. The leg claw mechanism is locked by a ratchet wheel only at the bottom plate, the knee joint is not provided with a locking device, and the hip joint cannot rotate to actively aim at a target; the bionic mechanical leg jaw device is designed based on a four-rotor unmanned aerial vehicle, and the matching problem of a fixed wing or a flapping wing type aircraft and a bionic foot jaw is not considered. In general, the limitations of the current double gripper for landing and gripping of aircraft are mainly manifested in three aspects:
first, the real-time nature of the grip trigger is difficult to ensure. At present, the gripping triggering mode is mostly dependent on external control signals, and because the generation of the external control signals is often based on the processing of information such as vision, the gripping triggering has a certain delay, so that the mechanical grippers are difficult to grip in time, and even the aircraft is caused to miss the target capturing time or stably land the window;
secondly, it is difficult to achieve a continuous grip under strong impact conditions. When the aircraft captures or drops, the strong impact energy with the contact surface cannot be absorbed and released quickly, so that the structure of the mechanical claw is damaged to different degrees, and meanwhile, the aircraft cannot continuously grasp the target due to the impact of the energy, so that the smooth progress of the capturing or dropping process of the target is influenced;
third, it is difficult to determine the optimal grip driving parameters for the double jaw. The grip drive parameters (e.g., drive mechanism size, drive component type selection) determine the grip capability, and the grip force of the dual gripper required for different aircraft at landing or for different targets being gripped varies, making it difficult to determine the optimal grip drive parameters for the dual gripper based on the grip force envelope.
Disclosure of Invention
Aiming at the problem of limitation of the double mechanical claws when the double mechanical claws are used for landing and grabbing an aircraft, the invention provides a knee bending triggered spring inhaul cable type bionic claw collaborative grabbing method which can be used for mechanical claws carried by different types of aircraft and can provide dynamic and static target capturing and irregular surface inhabiting and landing capabilities.
The technical solution for realizing the purpose of the invention is as follows:
a knee bending triggering spring inhaul cable type bionic claw collaborative grasping method based on a bionic claw grasping body mechanism comprises the following steps:
according to the structural characteristics of the carrying aircraft, a bionic claw cooperative grasping mechanism based on a knee bending trigger mechanism and a ratchet locking mechanism is designed;
establishing a spring inhaul cable driving mode and an inhaul cable linkage mechanism, and determining a grasping driving mechanism of a bionic claw cooperative grasping mechanism;
establishing a bionic claw cooperative optimization model, and optimizing parameters of a bionic claw cooperative grasping mechanism;
and controlling the gripping of the bionic claw cooperative gripping mechanism through a cooperative control strategy.
Further, the bionic claw grasping body mechanism comprises a paw, an ankle joint, a shank bone, a thigh bone, a bionic claw bottom plate, a hip joint, a thigh, a knee joint and a shank, wherein the paw and the ankle joint are integrated and connected with the shank and the shank bone, the shank and the shank bone are connected with the thigh and the thigh bone in a foldable way through the knee joint, the other ends of the thigh and the thigh bone are connected with the hip joint, and the hip joint is connected with the lower part of the bionic claw bottom plate in a rotary way; the ankle joint, the knee joint and the hip joint are all fixed by sleeves, and bolts are installed in the sleeves to be connected with the legs.
Further, the claws are distributed in a three-finger front and one-finger rear type, and each branch claw is formed by sequentially connecting a claw toe tip, a claw distal phalange, a claw middle phalange, a claw proximal phalange and a claw root bone.
Further, the bionic claw gripping structure comprising a knee bending trigger mechanism and a ratchet locking mechanism specifically comprises: the knee joint is provided with the ratchet locking device, one end of the rubber band is connected with the knee joint, the other end of the rubber band is connected with the ratchet locking device, after the legs are folded, the ratchet locking device is fast locked, so that the legs cannot rebound, a chute, a knee bending trigger sliding block, the knee bending trigger rubber band and a knee bending trigger buckle are arranged on the lower surface of a bottom plate of the bionic claw, the knee bending trigger sliding block is arranged in the chute, the knee bending trigger buckle is arranged on the side of the chute through a pin shaft, one end of the knee bending trigger sliding block is connected with two sides of the chute, the knee bending trigger rubber band is connected with the knee bending trigger buckle, the knee bending trigger buckle is bound through the knee bending trigger rubber band, the initial state of the buckle is ensured to be a clamping state, the force of the knee bending trigger buckle can be overcome, the buckle is unlocked, and the knee bending trigger sliding block is released.
Further, a spring inhaul cable driving mode and an inhaul cable linkage mechanism are established, and the grasping driving mechanism of the bionic claw cooperative grasping machine is determined to be specifically as follows: the grasping driving mechanism comprises a motor, a steering engine, a first cable, a second cable, a third cable, a fourth cable, a main spring and an auxiliary spring, wherein the main spring is arranged on the lower surface of a bottom plate of the bionic claw, the auxiliary spring is arranged at the middle position of the lower leg, the first cable comprises a plurality of sections, the first section of the first cable starts from an output shaft of the motor and is connected with one end of the main spring, the second section of the first cable is respectively connected with the other end of the main spring and one end of a knee bending trigger slide block, one end of the third section of the first cable is connected with the other end of the knee bending trigger slide block, the other end of the third section of the first cable is connected with one end of the auxiliary spring along the thigh and around a ratchet locking device, one end of the fourth section of the first cable is connected with the other end of the auxiliary spring, and the other end of the fourth section of the first cable is connected to each branch of the claws in a scattered manner; the third inhaul cable starts from the motor output shaft, is opposite to the winding direction of the first inhaul cable, is tightened at the hip joint pin shaft, turns back around the fixed shaft to be connected with the third section of the first inhaul cable, one end of the fourth inhaul cable is connected with the third inhaul cable at the turning back outlet of the third inhaul cable, the other end of the fourth inhaul cable turns back around the knee joint to be connected with the second inhaul cable at the thigh, the knee joint is fixedly connected with the ratchet locking device, one end of the second inhaul cable is connected with the fourth inhaul cable, the other end of the second inhaul cable is connected with the knee bending trigger buckle, and the knee bending trigger buckle is controlled to clamp or release the knee bending trigger sliding block; the steering engine is connected with the hip joint and is used for controlling the torsion of the hip joint.
Further, the gripping driving mechanism drives the bionic claw to cooperatively grip the bionic claw comprises three stages of gripping before bending the knee, gripping after bending the knee and releasing, wherein:
preflexion stage of grasping: the motor does work, the first inhaul cable is tightened, the third inhaul cable is loosened, and at the moment, the knee bending trigger buckle clamps the knee bending trigger sliding block; the second inhaul cable is in a tightening state under the action of the knee bending triggering rubber band; the second inhaul cable is connected with the fourth inhaul cable, the fourth inhaul cable is also tightened, the fourth inhaul cable overcomes the tension of the rubber band at the ratchet locking device, and the ratchet is not locked;
the stage after the grasping and bending the knee: the second inhaul cable is lengthened, the knee bending trigger buckle is sprung, the knee bending trigger sliding block slides, and the energy of the main spring is transmitted to the auxiliary spring; the first inhaul cable and the third inhaul cable connected with the sliding block are retracted; the joint point of the fourth inhaul cable and the third inhaul cable moves downwards, the fourth inhaul cable is loosened, the tension of the rubber band at the ratchet locking device cannot be overcome, and the ratchet locking device is locked;
a release stage: the motor is reversed, the first inhaul cable is loosened, and the third inhaul cable is tightened; the knee bending triggering sliding block is reset, and the knee bending triggering buckle is reset to clamp the knee bending triggering sliding block; the fourth inhaul cable and the third inhaul cable connector move upwards, and the two inhaul cables are simultaneously tightened; the ratchet locking device bound by the fourth inhaul cable is released, and the leg can be stretched again.
Further, the first inhaul cable, the second inhaul cable, the third inhaul cable and the fourth inhaul cable adopt a single nylon rope.
Further, the bionic claw collaborative optimization model is as follows:
in the above formula:the relative displacement of the main spring and the auxiliary spring of the two prongs is respectively shown; the stiffness coefficients of the main spring and the auxiliary spring of the two prongs are respectively shown; Δl a ，Δl b Respectively representing the length of the two claws which are wound into the inhaul cable by the corresponding motors; />Respectively representing the change length of the inhaul cable when the two claws are gripped; c is a constant related to the external dimensions of the co-operating gripping means, determining +.>Setting F in the range of the value of (2) a ，F b The two prongs correspond to the pulling force generated by the motor to the inhaul cable.
Further, the cooperative control strategy adopts PID control.
Further, the control inputs of the steering engine corresponding to the two prongs are respectively:
wherein,control coefficients, respectively->The two prongs correspond to the angle cooperative control error of the steering engine respectively;
the control inputs of the motors corresponding to the two prongs are respectively:
wherein,control coefficients, respectively->And respectively controlling errors of the force coordination of the motors.
Compared with the prior art, the invention has the following beneficial effects:
(1) The invention designs a fixing mode among four inhaul cables, two springs, a steering engine and a motor of a single bionic claw, and the fixing mode can ensure inhaul cable linkage before, after and in a releasing stage of grasping and bending a knee; (2) The driving mode is simple and reliable, the weight is light, the energy consumption is low, various irregular objects can be grasped, and the inhabiting landing is realized in a complex environment; (3) The bionic claw collaborative gripping driving parameter optimization model is established, so that the spring type selection is facilitated; the impact force of the aircraft during landing can be effectively reduced, and the impact force is converted into trigger force to realize knee bending and grasping of the mechanical double claws; (4) The knee bending trigger mechanism converts energy impact generated by knee bending and landing into a bionic claw gripping trigger signal, ensures the real-time performance of gripping trigger, is more timely in gripping trigger and strong in autonomy, ensures that the capturing and landing functions of the carrying aircraft are more perfect and reliable, and can execute more diversified tasks.
Drawings
Fig. 1 is a schematic view of the overall structural design of the present invention.
Fig. 2 is a schematic view of the basic dimensions of the structure of the present invention.
Fig. 3 is a schematic view of the structure of the paw in the present invention.
Fig. 4 is a schematic diagram of the joint connection of the hip, knee and ankle joints.
Fig. 5 is a schematic view of the overall design of the drive mechanism of the present invention.
Fig. 6 is a schematic structural view of the energy storage mechanism and the knee bending triggering device in the present invention.
FIG. 7 is a schematic view of a knee-bending trigger locking mechanism at a knee ratchet in accordance with the present invention.
Fig. 8 is a layout design of the driving device of the present invention.
Fig. 9 is a schematic diagram of the cooperative principle of the double claw in the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Firstly, designing a bionic claw cooperative gripping mechanism according to the structural characteristics of the carrying aircraft. With reference to fig. 1, the outline structure mainly includes: the leg joint comprises a foot claw 01, an ankle joint 02, a shank rib 03, a thigh rib 04, a bionic claw bottom plate 05, a knee bending trigger buckle 06, a hip joint 07, a thigh 08, a ratchet locking device 09, a knee joint 10, a shank 11 and other components. The installation mode is as follows: the paw 1 and the ankle joint 2 are designed into a whole, and the ankle joint 2 connects the shank 11 with the shank bones and muscles 03 through the ankle joint connecting sleeve 17 and bolts; the knee joint 10 is connected with the lower leg 11, the thigh 08, the lower leg bones 03 and the thigh bones 04 through the knee joint connecting sleeve 18, and is a main composition structure of the bionic claw for realizing the folding function; the other ends of the thigh 08 and the thigh bones and muscles 04 are connected with the hip joint 7 through the hip joint connecting sleeve 19 and bolts; the hip joint 7 is fixed below the bionic claw bottom plate 5 to realize rotation; the ratchet locking device 09 is fixed on the knee joint 10 through a sleeve and a bolt, and is connected with the knee joint 10 and the ratchet locking device 09 through a rubber band 23, so that an acting force is applied to the ratchet locking device, and the locking function of the ratchet locking device is realized; the knee bending trigger buckle is arranged on a chute of the bionic claw bottom plate 05, the knee bending trigger buckle is fixed on the chute through a pin shaft, two sides of the chute are connected with the knee bending trigger rubber band 29, and one end of the knee bending trigger rubber band 29 is connected with the knee bending trigger buckle. Referring to fig. 4, the connection method of each joint and the leg is to fix through the sleeve, and then install the universal bolt in the sleeve, so as to prevent the connection looseness caused by the bionic mechanical claw in the moving process.
Referring to fig. 7, the ratchet locking device 09 includes two ratchets engaged with each other and a locking module, the two ratchets engaged with each other rotate along with folding or straightening of the leg, one end of the elastic band 23 is sleeved on the protrusion of the knee joint 10, the other end of the elastic band is sleeved on the protrusion of the locking module, and by applying an external force to the locking module, the locking module is pulled to lock or release the ratchet, after the leg is ensured to be bent in place based on the elastic force of the elastic band 23, the ratchet is locked by pulling the locking module rapidly, so as to prevent the leg from rebounding. The ratchet locking device is not limited to this structure and is not specifically exemplified herein.
Secondly, the bionic claw collaborative gripping driving mechanism is designed, and the bionic claw collaborative gripping driving mechanism comprises a spring inhaul cable driving mode and an inhaul cable linkage mechanism design. And (1) designing a spring stay rope type driving mode. As shown in fig. 5 to 8, the spring cable driving system includes 4 cables (denoted as a first cable 24 (blue cable), a second cable 25 (purple cable), a third cable 26 (pink cable) and a fourth cable 27 (green cable)) and 2 tension springs. The first cable 24 (blue cable) extends from the motor to the paw branch; the third inhaul cable 26 (pink rope) starts from the motor, but is opposite to the winding direction of the first inhaul cable 24 (blue rope), the third inhaul cable 26 (pink rope) is tightened at the hip joint pin shaft and is folded back to be connected with the first inhaul cable 24 (blue rope) at the tail end of the knee bending trigger slide block 22; the fourth cable 27 (green rope) is connected with the third cable 26 (pink rope) at the turning outlet of the third cable (specific starting position is also determined according to model optimization parameters in the field, the starting position is not a key point, the key point is that the third cable 26, the second cable 25 and the ratchet locking device are connected), and the fourth cable 27 (green rope) is connected with the second cable 25 (purple rope) at the thigh part until the third cable turns back to the ratchet locking device, and the tail end is directly knotted and fixed; one end of the second inhaul cable 25 (purple rope) controls the knee bending trigger buckle, and the other end of the second inhaul cable 25 (green rope) is connected with the fourth inhaul cable 27 (green rope). The main spring 20 is mounted under the floor of the first cable 24 (blue rope) after it has been launched from the motor 28; the sub-spring 21 is installed at the middle position of the lower leg 11. Both springs are connected by a first cable 24 (blue cord). And (2) designing a inhaul cable linkage mechanism.
The inhaul cable linkage mechanism is mainly introduced in three stages of before the knee bending, after the knee bending and releasing:
1) Grasping the pre-flexion stage. The motor 28 does work, the first pull rope 24 (blue rope) is tightened, and the third pull rope 26 (pink rope) is loosened; the knee bending trigger buckle clamps the knee bending trigger slide block 22, and the main spring 20 stores energy and cannot transmit the energy downwards; the second inhaul cable 25 (purple rope) is under the action of the binding rubber band 29 at the knee bending triggering device and is in a tightening state; the second cable 25 (the purple rope) is connected with the fourth cable 27 (the green rope), and the fourth cable 27 (the green rope) is also stretched, so that the fourth cable 27 (the green rope) overcomes the tension of the rubber band 23 at the ratchet wheel, and the ratchet wheel is not locked.
2) Grasping the posterior stages of flexion. The legs are folded, the second inhaul cable 25 (purple rope) is lengthened, the knee bending trigger buckle is sprung open, the knee bending trigger sliding block 22 slides, and the energy of the main spring 20 is transmitted to the auxiliary spring 21; the first 24 (blue rope) and third 26 (pink rope) cables connected by the slider 22 are retracted; the joint point of the fourth inhaul cable 27 (green rope) and the third inhaul cable 26 (pink rope) moves downwards, the fourth inhaul cable 27 (green rope) loosens, the tension of the rubber band 23 at the ratchet locking device cannot be overcome, and the locking module locks the ratchet.
3) And a release stage. The motor 28 is reversed, the first pull cord 24 (blue cord) is relaxed, and the third pull cord 26 (pink cord) is tightened; the knee bending trigger slide block 22 is reset, the second inhaul cable 25 (purple rope) is retracted, and the knee bending trigger slide block 22 is blocked by resetting the knee bending trigger buckle 06 based on the action of the binding rubber band 29 at the knee bending trigger device; the joints of the fourth inhaul cable 27 (green rope) and the third inhaul cable 26 (pink rope) move upwards, and the two ropes are simultaneously tightened; the ratchet locking device bound by the fourth stay cable 27 (green rope) is released, the leg can be stretched again, and the aircraft takes off again.
Then, a bionic claw is installed to cooperatively grasp the driving mechanism, and a grasping mechanism is designed and comprises a knee bending triggering mechanism and a ratchet locking mechanism. (1) a knee bending trigger mechanism, as shown in fig. 6, specifically: a spring-cable mechanism is arranged at the leg and the claw of the bionic claw, the release and recovery of the cable is controlled by a motor 28, and the energy required for gripping the claws is stored and transferred by the main spring 20. At the moment that the aircraft lands on the ground, the legs are folded and bent, impact energy caused by landing is absorbed and converted into a trigger signal, so that the knee bending trigger buckle at the upper part of the hip joint is sprung open, the knee bending trigger sliding block 22 is released, the main spring 20 is released, and energy is transmitted to the auxiliary spring 21 at the position of the lower leg 11, so that the claws are tightened, the grabbing force is obtained, and the aircraft lands on the ground stably. (2) ratchet locking mechanism, as shown in fig. 7, specifically: when the aircraft falls and the legs are bent, the quick response mechanism works and simultaneously also pulls the ratchet locking device at the knee joint, so that the ratchet at the knee joint is locked, the grabbing force of the claws is maintained, and the legs are prevented from rebounding.
Finally, a double-claw cooperative mechanism is designed, and a spring inhaul cable type bionic claw cooperative gripping driving parameter is determined, so that the two claws are cooperatively controlled to move, and the landing or gripping process is more stable. The two-jaw co-mechanism comprises a two-jaw co-optimization model and a two-jaw co-control strategy, as shown in fig. 9. And (1) a double-claw collaborative optimization model. The mathematical model of the double claw co-optimization is as follows:
in the above formula:representing the relative displacement of the primary spring 20 and the secondary spring 21 of jaws a and b; />The stiffness coefficients of the main spring 20 and the sub-spring 21 representing the pawl a and the pawl b; Δl a ，Δl b The length of the cable drawn by the two motors 28 of jaw a and jaw b is shown; />Indicating the varying length of the cable when gripping jaws a and b; c is a constant related to the external dimensions of the co-operating gripping means, determining +.>Is a range of values. The decision variables of the optimization model areThe optimization objective is to minimize the difference in contraction of the two legs of jaw a and jaw b, the minimum being determined based on the non-drop condition; conditions (C2) and (C5) constrain the length relationship between the relative displacements of the bionic claw shank 11 and the cable and the spring; conditions (C1) and (C4) restrict the relationship between the tension of the cable by the motor 28 and the tension of the main spring 20 and the sub-spring 21; conditions (C3) and (C6)The balance relation of the bionic double-claw force is achieved. (2) a two-jaw cooperative control strategy. The double-claw cooperative control aim is to control the left and right motors 28 and the steering engine so that the rotation angle of the steering engine is a desired value theta * The motor 28 provides a pulling force of the desired value F * . The specific control method is not limited, and classical control or modern control methods can be adopted.
Examples
Taking a quadrotor aircraft with the collocation size of 200mm multiplied by 200mm (length multiplied by width) as an example, the implementation process of the knee bending triggering spring inhaul cable type bionic claw collaborative grasping method comprises the following 5 specific steps.
Step 1: and determining the appearance structure of the bionic claw cooperative grasping mechanism.
According to the matched four-rotor aircraft, the dimensions of various parts of the bionic claw are determined according to fig. 1 and 2, wherein the parts comprise a paw 01, an ankle joint 02, a shank bone 03, a thigh bone 04, a bionic claw bottom plate 05, a hip joint 07, a thigh 08, a knee joint 10 and a shank 11.
The basic dimensions of the bionic mechanical gripper matched with the aircraft are determined according to fig. 3. The dimensions of the bionic claw floor 05 are approximately 193mm long by 198mm wide. The bionic claw bottom plate 05 is provided with 6 bolt holes for fixing the aircraft. The leg of the bionic claw extends to be about 173mm, and the width between the two claws is about 157mm.
Referring to fig. 3, the prongs are distributed in a three-pronged, one-pronged type, wherein each prong is composed of a toe tip 12, a distal phalange 13, a mid-paw phalange 14, a proximal phalange 15, and a heel bone 16. The gripping of the claw is mainly controlled by a string inserted into a hole below the claw, and the string is contracted, so that the pulling force of the binding rubber band 23 above the claw is overcome, and the claw is driven to grip; the string is released and the jaws automatically relax due to the tension of the elastic band 23.
Step 2: the bionic claw is combined and installed to cooperatively grasp the appearance mechanism.
The installation mode is as follows: the claw and the ankle joint are designed into a whole, and the ankle joint connects the shank 11 with the tendons and bones through the sleeve and the bolts; the knee joint is simultaneously connected with the lower leg 11, the thigh and the upper and lower tendons and bones, and is a main composition structure of the bionic claw for realizing the folding function; the other ends of the thigh and the upper tendons and bones are connected with the hip joint through the sleeve and the bolt; the hip joint is fixed below the bottom plate to realize rotation. With reference to fig. 4, the joints and the legs are fixed through the sleeve, and then the universal bolts are installed in the sleeve, so that connection looseness of the bionic mechanical claw in the moving process can be prevented.
Step 3: the bionic claw is designed to cooperatively grasp the driving mechanism.
The co-operating grip actuation mechanism is primarily implemented by a spring-cable structure, as shown in fig. 5. Solving the double-claw cooperative optimization model through the optimization problem of the stress relation and the length relation between the main spring 20 and the auxiliary spring 21 in the double-claw cooperative control to obtain the elastic coefficient k of the double-claw main spring 20 Main unit Spring constant k of double-pawl secondary spring 21 =5.6 Auxiliary pair =2. The main spring 20 of the bionic claw adopts a tension spring of 0.7x8x20 (wire diameter x outer diameter x length, unit mm), and the main spring 20 of the bionic claw adopts a tension spring of 0.7x6x20. The inhaul cable adopts a single nylon rope with the diameter of 1 mm. And selecting a servo steering engine with torque of 12.0kgf.cm (6.0 v) to control the torsion of the hip joint so as to realize the posture adjustment of the bionic claw. The motor 28 selects a speed reduction ratio 298, the servo motor 28 with the rotating speed of 60rpm/0.05A controls the contraction and release of the inhaul cable, and the larger speed reduction ratio also ensures that the motor 28 cannot reverse and ensures the tension stability of the inhaul cable.
Step 4: the bionic claw is installed and tested to cooperatively grasp the driving mechanism.
As shown schematically in fig. 6-8, a bionic gripper floor is provided with a primary spring 20 for storing energy for rapid transfer to the underside of the gripper; a sub spring 21 is installed in the shank 11 of the gripper. The cable is fixed at the motor 28 shaft. The first cable 24 (blue cable) extends from the motor to the paw branch; the third guy wire 26 (the pink rope) starts from the motor, but is opposite to the winding direction of the first guy wire 24 (the blue rope) in the winding direction (namely, the first guy wire 24 (the blue rope) is tightened, the third guy wire 26 (the pink rope) is loosened, and the third guy wire 26 (the pink rope) is tightened at the hip joint pin shaft and returns to be connected with the first guy wire 24 (the blue rope) at the tail end of the knee bending trigger slide block 22; the fourth cable 27 (green rope) is connected with the third cable 26 (pink rope) at the cable turning outlet and is connected with the second cable 25 (purple rope) at the thigh until the fourth cable is extended to the ratchet locking device; one end of the second inhaul cable 25 (purple rope) controls the knee bending trigger buckle, and the other end of the second inhaul cable 25 (green rope) is connected with the fourth inhaul cable 27 (green rope). The motor 28 and the steering engine are both arranged below the bionic claw bottom plate and fixed with corresponding mounting hole sites.
The knee bending trigger and continuous grasping mechanism is tested through the design and the installation of the driving mechanism.
1) Knee bending trigger mechanism test: a spring inhaul cable mechanism is arranged at the leg part and the claw of the bionic claw, the release and the recovery of inhaul cables are controlled through a motor 28, and the energy required by the gripping of the claws is stored and transmitted by a main spring 20; at the moment that the aircraft lands on the ground, the legs are folded and bent, impact energy caused by landing is absorbed and converted into a trigger signal, so that the knee bending trigger buckle at the upper part of the hip joint is sprung open, the knee bending trigger sliding block 22 is released, the main spring 20 is released, and energy is transmitted to the auxiliary spring 21 at the position of the lower leg 11, so that the claws are tightened, the grabbing force is obtained, and the aircraft lands on the ground stably.
2) Continuous grip mechanism test: when the aircraft falls and legs are folded, the quick response mechanism works and simultaneously pulls the ratchet locking device at the knee joint, so that the ratchet at the knee joint is locked, the grabbing force of the paws is maintained, and the legs are prevented from rebounding.
Step 5: and (5) bionic double-claw cooperative control.
Based on the bionic claw with knee bending triggering and continuous grasping functions, PID control is adopted, cooperative grasping control parameters are selected, steering angles of the bionic claw are controlled through steering, and pulling force of a pull rope is controlled through a motor 28, so that bionic double-claw cooperative control is realized.
Angle cooperative control aspect: let θ a For the steering engine at the claw a to be twisted by an angle theta b To-be-twisted angle theta of steering engine at claw b * To obtain a desired torsion angle, the cooperative control error of the angle at the jaw a is that
The cooperative control error of the angle at the claw b is that
By adjusting control parameters, steering engine control inputs at the claw a and the claw b can be obtained based on a PID control method respectively
Wherein,respectively control coefficients;
force cooperative control aspect: set F a F, which is the pulling force of the motor 28 on the cable at the jaw a b For the pulling force of the motor 28 on the cable at jaw b, F * To obtain the force cooperative control error at the jaw a as the desired pulling force
The force cooperative control error at jaw b is
By adjusting the control parameters, the control inputs of the motor 28 at the jaw a and the jaw b can be obtained based on the PID control method respectively
Wherein,respectively control coefficients.
Claims (10)
1. The knee bending triggering spring inhaul cable type bionic claw collaborative grasping method is based on a bionic claw grasping body mechanism and is characterized by comprising the following steps of:
according to the structural characteristics of the carrying aircraft, a bionic claw cooperative grasping mechanism based on a knee bending trigger mechanism and a ratchet locking mechanism is designed;
establishing a spring inhaul cable driving mode and an inhaul cable linkage mechanism, and determining a grasping driving mechanism of a bionic claw cooperative grasping mechanism;
establishing a bionic claw cooperative optimization model, and optimizing parameters of a bionic claw cooperative grasping mechanism;
and controlling the gripping of the bionic claw cooperative gripping mechanism through a cooperative control strategy.
2. The knee-bending triggered spring inhaul cable type bionic claw collaborative gripping method according to claim 1, wherein the bionic claw gripping body mechanism comprises a foot claw (01), an ankle joint (02), a lower leg rib (03), a thigh rib (04), a bionic claw bottom plate (05), a hip joint (07), a thigh (08), a knee joint (10) and a lower leg (11), the foot claw (01) and the ankle joint (02) are integrated, the foot claw (01) and the ankle joint (02) are connected with the lower leg (11) and the lower leg rib (03), the lower leg (11) and the lower leg rib (03) are connected with the thigh (08) through the knee joint (10) in a foldable mode, the other ends of the thigh (08) and the thigh rib (04) are connected with the hip joint (07), and the hip joint (07) is connected with the lower portion of the bionic claw bottom plate (05) in a rotating mode; the ankle joint (02), the knee joint (10) and the hip joint (07) are all fixed by sleeves, and the sleeves are connected with the legs by mounting bolts.
3. The knee-bending triggered spring inhaul cable type bionic claw collaborative gripping method according to claim 2, wherein the claws (01) are distributed in a three-finger front and one-finger rear claw type, each claw is composed of a claw toe tip (12), a claw distal end phalange (13), a claw middle end phalange (14), a claw proximal end phalange (15) and a claw root bone (16) which are sequentially connected.
4. The knee-bending triggering spring inhaul cable type bionic claw collaborative gripping method according to claim 2, wherein the bionic claw gripping structure comprising a knee-bending triggering mechanism and a ratchet locking mechanism is specifically designed to comprise: the knee joint (10) is provided with a ratchet locking device (09), one end of a rubber band (23) is connected with the knee joint (10), the other end of the rubber band is connected with the ratchet locking device (09), after the legs are folded, the ratchet locking device (09) is locked, so that the legs cannot rebound, a sliding groove, a knee bending trigger sliding block (22), a knee bending trigger rubber band (29) and a knee bending trigger buckle (06) are arranged on the lower surface of a bionic claw bottom plate (05), the knee bending trigger sliding block (22) is arranged in the sliding groove, the knee bending trigger buckle (06) is arranged on the side of the sliding groove through a pin shaft, the knee bending trigger rubber band (29) is connected with two sides of the sliding groove, one end of the knee bending trigger buckle is connected with the knee bending trigger buckle (06), and the knee bending trigger sliding block (22) is blocked or released.
5. The knee bending triggering spring inhaul cable type bionic claw collaborative gripping method is characterized in that a spring inhaul cable driving mode and an inhaul cable linkage mechanism are established, and a gripping driving mechanism of the bionic claw collaborative gripping machine is determined specifically as follows: the grasping driving mechanism comprises a motor (28), a steering engine, a first stay cable (24), a second stay cable (25), a third stay cable (26), a fourth stay cable (27), a main spring (20) and a secondary spring (21), wherein the main spring (20) is arranged on the lower surface of a bionic claw bottom plate (05), the secondary spring (21) is arranged at the middle position of a lower leg (11), the first stay cable (24) comprises a plurality of sections, the first stay cable (24) of the first section starts from an output shaft of the motor (28) and is connected with one end of the main spring (20), the first stay cable (24) of the second section is respectively connected with the other end of the main spring (20) and one end of a knee bending trigger slide block (22), one end of the first stay cable (24) of the third section is connected with the other end of the knee bending trigger slide block (22), the other end of the third section is connected with one end of the secondary spring (21) along a thigh (08) and around a ratchet locking device (09), one end of the first stay cable (24) of the fourth section is connected with the other end of the secondary spring (21), and the other end of the fourth section of the first stay cable (24) is connected to branches of a foot claw (01) in a dispersed manner; the third inhaul cable (26) starts from an output shaft of the motor (28), is opposite to the winding direction of the first inhaul cable (24), is tightened at a pin shaft of the hip joint (07), turns back around a fixed shaft to be connected with the third section of the first inhaul cable (24), one end of the fourth inhaul cable (27) is connected with the third inhaul cable (26) at a turning outlet of the third inhaul cable, the other end of the fourth inhaul cable is connected with the second inhaul cable (25) at a thigh (08) in a turning way, is fixedly connected with the ratchet locking device (09) at the knee joint (10), one end of the second inhaul cable (25) is connected with the fourth inhaul cable (27), and the other end of the second inhaul cable is connected with the knee triggering buckle (06), so that the knee bending triggering buckle is controlled to clamp or release the knee bending triggering sliding block (22); the steering engine is connected with the hip joint and is used for controlling the torsion of the hip joint.
6. The knee bending triggered spring inhaul cable type bionic claw collaborative gripping method according to claim 5, wherein the gripping driving mechanism drives the bionic claw to cooperatively grip comprises three stages of gripping before bending the knee, gripping after bending the knee and releasing, wherein:
preflexion stage of grasping: the motor (28) does work, the first inhaul cable (24) is tightened, the third inhaul cable (26) is loosened, and at the moment, the knee bending trigger buckle clamps the knee bending trigger sliding block (22); the second inhaul cable (25) is under the action of the knee bending triggering rubber band (29) and is in a tightening state; the second inhaul cable (25) is connected with the fourth inhaul cable (27), the fourth inhaul cable (27) is also tightened, the fourth inhaul cable (27) overcomes the tensile force of the rubber band (23), and the ratchet locking device (09) is unlocked;
the stage after the grasping and bending the knee: the second inhaul cable (25) is lengthened, the knee bending trigger buckle (06) is sprung, the knee bending trigger sliding block (22) slides, and the energy of the main spring (20) is transmitted to the auxiliary spring (21); the joints of the first inhaul cable (24) and the third inhaul cable (26) which are connected by the sliding block (22) are retracted; the joint point of the fourth inhaul cable (27) and the third inhaul cable (26) moves downwards, the fourth inhaul cable (27) is loosened, the tension of the rubber band (23) at the ratchet locking device cannot be overcome, and the ratchet locking device (09) is locked;
a release stage: the motor (28) is reversed, the first guy cable (24) is loosened, and the third guy cable (26) is tightened; the knee bending trigger sliding block (22) is reset, and the knee bending trigger buckle (06) is reset to clamp the knee bending trigger sliding block; the joints of the fourth inhaul cable (27) and the third inhaul cable (26) move upwards, and the two inhaul cables are simultaneously tightened; the ratchet locking device (09) bound by the fourth stay rope (27) is released, and the leg can be stretched again.
7. The knee-bending triggering spring inhaul cable type bionic claw collaborative gripping method according to claim 5, wherein the first inhaul cable (24), the second inhaul cable (25), the third inhaul cable (26) and the fourth inhaul cable (27) adopt single nylon ropes.
8. The knee-bending triggered spring inhaul cable type bionic claw collaborative gripping method according to claim 5, wherein the bionic claw collaborative optimization model is as follows:
in the above formula:the relative displacement of the main spring and the auxiliary spring of the two prongs is respectively shown; the stiffness coefficients of the main spring and the auxiliary spring of the two prongs are respectively shown; Δl a ，Δl b Respectively representing the length of the two claws which are wound into the inhaul cable by the corresponding motors; />Respectively represent the inhaul cable when two claws are grippedIs a variable length of (a); c is a constant related to the external dimensions of the co-operating gripping means, determining +.>Setting F in the range of the value of (2) a ，F b The two prongs correspond to the pulling force generated by the motor to the inhaul cable.
9. The knee-bending triggered spring-inhaul cable type bionic claw collaborative gripping method according to claim 8, wherein the collaborative control strategy is controlled by PID.
10. The knee bending triggering spring inhaul cable type bionic claw collaborative grasping method according to claim 9, wherein the control inputs of the steering engine corresponding to the two prongs are respectively:
wherein,control coefficients, respectively->The two prongs correspond to the angle cooperative control error of the steering engine respectively;
the control inputs of the motors corresponding to the two prongs are respectively:
wherein,control coefficients, respectively->And respectively controlling errors of the force coordination of the motors.
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