CN117047746A - Artificial muscle-based line-driven flexible touch bionic finger - Google Patents
Artificial muscle-based line-driven flexible touch bionic finger Download PDFInfo
- Publication number
- CN117047746A CN117047746A CN202310830506.4A CN202310830506A CN117047746A CN 117047746 A CN117047746 A CN 117047746A CN 202310830506 A CN202310830506 A CN 202310830506A CN 117047746 A CN117047746 A CN 117047746A
- Authority
- CN
- China
- Prior art keywords
- phalanx
- artificial muscle
- finger
- flexible
- sensor
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 210000003205 muscle Anatomy 0.000 title claims abstract description 42
- 239000011664 nicotinic acid Substances 0.000 title claims abstract description 19
- 230000003068 static effect Effects 0.000 claims abstract description 13
- 239000000463 material Substances 0.000 claims abstract description 12
- 238000006073 displacement reaction Methods 0.000 claims abstract description 10
- 238000005452 bending Methods 0.000 claims abstract description 6
- 210000001015 abdomen Anatomy 0.000 claims abstract description 4
- 239000002033 PVDF binder Substances 0.000 claims description 4
- 230000008602 contraction Effects 0.000 claims description 4
- 229920002981 polyvinylidene fluoride Polymers 0.000 claims description 4
- 229920000728 polyester Polymers 0.000 claims description 3
- 229920002635 polyurethane Polymers 0.000 claims description 3
- 239000004814 polyurethane Substances 0.000 claims description 3
- 229920002379 silicone rubber Polymers 0.000 claims description 3
- 239000004945 silicone rubber Substances 0.000 claims description 3
- 210000002435 tendon Anatomy 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 8
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 description 5
- 239000000741 silica gel Substances 0.000 description 5
- 229910002027 silica gel Inorganic materials 0.000 description 5
- 210000001145 finger joint Anatomy 0.000 description 3
- 230000006870 function Effects 0.000 description 3
- 238000005266 casting Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 239000002985 plastic film Substances 0.000 description 2
- 229920006255 plastic film Polymers 0.000 description 2
- 229920001296 polysiloxane Polymers 0.000 description 2
- 238000012271 agricultural production Methods 0.000 description 1
- 238000013473 artificial intelligence Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 210000004553 finger phalanx Anatomy 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 239000006082 mold release agent Substances 0.000 description 1
- 230000008447 perception Effects 0.000 description 1
- 229920000131 polyvinylidene Polymers 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
- 230000008054 signal transmission Effects 0.000 description 1
- 238000009966 trimming Methods 0.000 description 1
Classifications
-
- 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
- B25J9/1075—Programme-controlled manipulators characterised by positioning means for manipulator elements with muscles or tendons
-
- 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
- B25J15/12—Gripping heads and other end effectors having finger members with flexible finger members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
Abstract
The invention discloses a line-driven flexible touch bionic finger based on artificial muscles. The finger is formed by hinging three sections of rigid phalanges at the proximal end, the middle and the distal end, wherein the proximal end, the middle and the distal end of the three sections of rigid phalanges are respectively provided with a static/dynamic tactile sensor at the abdomen of the finger in sequence, and the tactile sensor and the phalanges are wrapped by flexible materials to form a rigid-flexible mixed structure. The finger simulates the movement mechanism of tendons of a human hand, the bending of the finger at different degrees is realized by adopting a line driving mode of combining artificial muscles with a displacement sensor with a driving rope, and the stretching of the finger is realized by a return torsion spring arranged at three joints. The invention has simple and compact structure, realizes flexible operation of fingers through artificial muscle driving, has a touch sensing function, protects the touch sensing unit in the fingers through a rigid-flexible hybrid structure, and can grasp objects with complex shapes, fragility and easy deformation through passive deformation.
Description
Technical Field
The invention relates to the technical field of manipulators, in particular to a line-driven flexible touch bionic finger based on artificial muscles.
Background
With the rapid development of technologies such as computers and artificial intelligence, the robot field has also brought to a wider development space, and the application of robots is not limited to the traditional industrial manufacturing field, but gradually extends to numerous fields such as education and entertainment, auxiliary medical treatment, home service, agricultural production, exploration and survey and the like. In the face of complex and changeable working environments, the working capacity of the robot is also required to be higher. The manipulator is used as the most important sensing and operation execution part of the robot, and the influence of the manipulator on the whole performance of the robot is decisive. Thus, the research on the manipulator with higher dexterity and adaptability is a key link for the robot to advance to high intelligence.
The human hand has high dexterity and perception, but the structure is very complex, and direct reproduction is difficult to realize. In recent years, various bionic fingers and bionic manipulators have appeared, mimicking the finger structure of a human. However, most of these manipulators are based on motor drives, are complex and cumbersome in structure, and are often of a fully rigid structure, making it difficult to achieve gripping of complex objects. Although some soft mechanical grippers are available, there are many limitations in terms of both gripping force and stability. More importantly, the mechanical fingers do not have a touch sensing function, sensing is realized by sticking a force measuring unit on the outer surface of the mechanical fingers or in the shell, the robustness and the reliability are poor, and long-term stable application is not easy to realize. Therefore, there is a need to design a flexible mechanical finger with low cost, easy manufacturing, good reliability and tactile sensing function.
Disclosure of Invention
The invention aims at overcoming the defects of the prior art, provides a line-driven flexible touch bionic finger based on artificial muscles, adopts a line-driven mode based on the artificial muscles, integrates a static/dynamic touch sensor into the finger, and simultaneously pours finger skin with flexible materials on the outside, thereby being a humanoid smart finger with higher operation flexibility and adaptability and stronger touch sensing capability.
In order to solve the technical problems, the invention provides the following technical scheme:
the utility model provides a flexible touch bionic finger of line drive based on artificial muscle which characterized in that: including articulated near-end phalanx, middle phalanx, distal end phalanx in proper order, all be provided with touch sensor on near-end phalanx, middle phalanx, the distal end phalanx, the artificial muscle is connected through the drive of driving rope drive to the end of distal end phalanx, and the junction between near-end phalanx, middle phalanx, the distal end phalanx is provided with the reply torsional spring, and the parcel has flexible material to form rigid-flexible hybrid structure on near-end phalanx, middle phalanx, distal end phalanx, the touch sensor.
Further, the artificial muscle is connected with a displacement sensor through a sensor connecting piece, and the displacement sensor can monitor the contraction amount of the artificial muscle in real time so as to determine the bending degree of the finger.
Further, the touch sensor is arranged at the finger belly of the proximal phalanx, the middle phalanx and the distal phalanx, and the signal wires of the touch sensor sequentially penetrate out of the fingers from the signal wire routing channels of the distal phalanx, the middle phalanx and the proximal phalanx.
Further, the joints among the proximal phalanges and the middle phalanges, among the middle phalanges and among the distal phalanges are provided with spring arrangement grooves, and pins at two ends of the return torsion spring are arranged in the spring arrangement grooves.
Further, the tactile sensor includes a static tactile sensor made of a high-precision piezoresistive strain gauge SG sensing a static force signal and a dynamic tactile sensor made of an organic piezoelectric material PVDF detecting a dynamic force signal.
Further, the artificial muscle uses McKibben type pneumatic muscle.
Further, the flexible material comprises polyurethane, polyester and silicone rubber.
Further, a smooth hose is sleeved on the driving rope.
Compared with the prior art, the invention has the beneficial effects that: the line-driven flexible touch bionic finger based on the artificial muscle has the advantages that the structure is simple and compact, the flexible operation of the finger is realized through the driving of the artificial muscle, the touch sensing function is realized, the touch sensing unit in the finger is protected through the rigid-flexible hybrid structure, and objects with complex shapes, fragility and easy deformation can be grasped through passive deformation. The touch manipulator composed of the touch bionic fingers not only can grasp various objects, but also can acquire dynamic and static touch information while grasping, thus forming closed-loop control and realizing smart operation on the grasped objects.
Drawings
FIG. 1 is a schematic diagram of the overall structure of an embodiment of the present invention.
Fig. 2 is a schematic diagram of a finger portion structure according to an embodiment of the present invention.
FIG. 3 is a schematic diagram of a tactile sensor arrangement according to an embodiment of the invention.
Fig. 4 is a schematic diagram of a tactile sensor arrangement on a distal phalange in accordance with an embodiment of the present invention.
Fig. 5 is a schematic diagram of the structure of an artificial muscle driving section according to an embodiment of the present invention.
Fig. 6a is a schematic diagram of a mold top box for casting finger skin in an embodiment of the invention.
Fig. 6b is a schematic diagram of a lower mold box for casting finger skin in an embodiment of the invention.
Fig. 7 is a schematic diagram of the expected pouring effect of the finger skin according to the embodiment of the invention.
Wherein: 1-proximal phalanges, 2-middle phalanges, 3-distal phalanges, 4-drive cord, 5-return torsion spring, 6-connector, 7-static tactile sensor, 8-dynamic tactile sensor, 9-silicone block, 10-silicone pad, 11-artificial muscle, 12-displacement sensor, 13-sensor connector
Detailed Description
In order to enhance the understanding of the present invention, the present invention will be further described in detail with reference to the drawings, which are provided for the purpose of illustrating the present invention only and are not to be construed as limiting the scope of the present invention.
As shown in fig. 1, the bionic finger of the invention comprises a proximal phalange 1, a middle phalange 2 and a distal phalange 3 which are hinged in sequence, wherein the proximal phalange 1, the middle phalange 2 and the distal phalange 3 are provided with touch sensors, and the touch sensors, the proximal phalange 1, the middle phalange 2 and the distal phalange 3 are wrapped by flexible materials to form a rigid-flexible mixed structure. The artificial muscle 11 is connected with a displacement sensor 12 through a sensor connecting piece 13, and the displacement sensor 12 can monitor the contraction amount of the artificial muscle 11 in real time so as to determine the bending degree of the finger. The finger simulates the movement mechanism of the tendons of the human hand, and the tail end of the distal phalanx 3 is connected with the artificial muscle 11 through the driving rope 4 in a driving way to realize the bending of the finger in different degrees.
As shown in fig. 2, a restoring torsion spring 5 is provided at the junction between the proximal phalanx 1 and the middle phalanx 2, and the extension of the finger is achieved by the restoring torsion springs 5 disposed at the three joints.
The inside of the proximal phalanx 1, the middle phalanx 2 and the distal phalanx 3 are respectively provided with a transmission rope 4 and a wiring channel of a sensor signal wire, and one end of each phalanx close to the hinge joint is provided with a spring arrangement groove. The restoring torsion spring 5 is directly sleeved on the joint hinge piece, and two pins distributed at 180 degrees are respectively embedded into spring arrangement grooves formed in the front and rear phalanges.
As shown in fig. 3 and 4, the tactile sensor includes a static tactile sensor 7 made of a high-precision piezoresistive strain gauge SG (Strain gauge) that senses a static force signal, and a dynamic tactile sensor 8 made of an organic piezoelectric material PVDF (polyvinylidene difluorid, polyvinylidene fluoride) that senses a dynamic force signal.
The static touch sensor 7 and the dynamic touch sensor 8 are respectively arranged at the finger abdomen of the proximal phalanx 1, the middle phalanx 2 and the distal phalanx 3 in the following specific arrangement modes: the proximal phalanx 1 and the middle phalanx 2 are respectively provided with a static touch sensor 7 and a dynamic touch sensor 8, and are respectively padded on a layer of silica gel pad 10 with the thickness of 2-3 mm; the distal phalange 3 is provided with two dynamic tactile sensors 8 and one static tactile sensor 7 at the tip of the finger and is provided on the upper face and the left and right sides of a silica gel block 9 of 8 x 6 x 8mm of the finger tip, respectively. The sensor signal wires sequentially penetrate out of the fingers from the signal wire wiring channels of the three phalanges.
As shown in fig. 1, the driving rope 4 is sleeved with a smooth hose, one end of the driving rope is fixed at the tail end of the distal phalanx 3, and the other end of the driving rope sequentially passes through the driving rope wiring channels of the three phalanges and is connected to the artificial muscle 11.
As shown in fig. 5, the artificial muscle 11 is connected to the displacement sensor 12 through the sensor connector 13 to detect the amount of contraction of the artificial muscle in real time to determine the degree of bending of the finger. Artificial muscles 11 include, but are not limited to, mcKibben-type pneumatic muscles.
Preferably, the flexible material used as the skin of the finger includes, but is not limited to, polyurethane, polyester, silicone rubber, and the like.
As shown in fig. 6 (a) and (b), the upper and lower box body structure of the finger skin pouring mould is designed, and the finger joint cannot be poured with flexible materials, otherwise, the finger joint rotation is interfered, so that the mould is simultaneously poured with three-section phalangeal segments of the finger. Before pouring, the joints of the fingers and the openings of the finger web of the finger bones are sealed by plastic films, a mold release agent is uniformly sprayed into the inner cavity of the mold before pouring, then the fingers are placed into the lower box body in a correct posture, and then the upper box body is covered and fastened by bolts. And slowly pouring silica gel from three pouring holes of the upper box body, pouring enough silica gel, transferring the die into vacuumizing equipment for vacuumizing treatment, and eliminating bubbles. And finally, standing the mould for about 3-5 hours to completely solidify the silica gel, demolding, and trimming the sealing plastic film at the finger joint after demolding. The expected pouring effect of the finger is shown in fig. 7.
The working principle of the invention is as follows:
as shown in fig. 1, in a natural state, the finger is in an extended state under the limit action of the return torsion spring 5, and when the artificial muscle 11 connected with the driving rope 4 starts to work and shrink, the finger is buckled under the traction of the driving rope 4, the buckling degree is determined by the shrinkage of the artificial muscle 11, and the shrinkage of the artificial muscle 11 is detected in real time by the displacement sensor 12. When the manipulator of this finger is used for operations such as object snatchs, the static touch sensor 7 and the dynamic touch sensor 8 that arrange in the finger sense the touch information that flexible skin of finger contacted and take place deformation in real time, turn into electric signal transmission to control module, control module analysis obtains the size of contact object, shape information, still can judge simultaneously that the finger and the object that snatches take place the slip between, snatch information such as whether stable, and then make to grasp or adjust instruction such as snatch gesture or relax, realize the closed loop control that the manipulator snatched, the dexterity and the stability of manipulator snatched the operation have been improved greatly.
The foregoing detailed description will set forth only for the purposes of illustrating the general principles and features of the invention, and is not meant to limit the scope of the invention in any way, but rather should be construed in view of the appended claims.
Claims (8)
1. The utility model provides a flexible touch bionic finger of line drive based on artificial muscle which characterized in that: including articulated near-end phalanx (1), middle phalanx (2), distal end phalanx (3) in proper order, all be provided with touch sensor on near-end phalanx (1), middle phalanx (2), distal end phalanx (3), artificial muscle (11) is connected through driving rope (4) drive to the end of distal end phalanx (3), and junction between near-end phalanx (1), middle phalanx (2), distal end phalanx (3) is provided with and resumes torsional spring (5), and the parcel has flexible material to form rigid-flexible hybrid structure on near-end phalanx (1), middle phalanx (2), distal end phalanx (3), the touch sensor.
2. The artificial muscle-based line-driven flexible tactile bionic finger according to claim 1, wherein: the artificial muscle (11) is connected with a displacement sensor (12) through a sensor connecting piece (13), and the displacement sensor (12) can monitor the contraction amount of the artificial muscle (11) in real time so as to determine the bending degree of the finger.
3. The artificial muscle-based line-driven flexible tactile bionic finger of claim 2, wherein: the touch sensor is arranged at the finger abdomen of the proximal phalanx (1), the middle phalanx (2) and the distal phalanx (3), and the signal wires of the touch sensor sequentially penetrate out of the fingers from the signal wire routing channels of the distal phalanx (1), the middle phalanx (2) and the proximal phalanx (3).
4. The artificial muscle-based line-driven flexible tactile bionic finger according to claim 1, wherein: the spring arrangement grooves are formed in the joints among the proximal phalanges (1) and the middle phalanges (2), among the middle phalanges (2) and among the distal phalanges (3), and pins at two ends of the return torsion spring (5) are arranged in the spring arrangement grooves.
5. The artificial muscle-based line-driven flexible tactile bionic finger according to claim 1, wherein: the tactile sensor comprises a static tactile sensor (7) which is made of a high-precision piezoresistance strain gauge SG and senses a static force signal, and a dynamic tactile sensor (8) which is made of an organic piezoelectric material PVDF and senses a dynamic force signal.
6. The artificial muscle-based line-driven flexible tactile bionic finger according to claim 1, wherein: the artificial muscle (11) is a pneumatic muscle of the McKibben type.
7. The artificial muscle-based line-driven flexible tactile bionic finger according to claim 1, wherein: the flexible material comprises polyurethane, polyester and silicone rubber.
8. The artificial muscle-based line-driven flexible tactile bionic finger according to claim 1, wherein: a smooth hose is sleeved on the driving rope (4).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310830506.4A CN117047746A (en) | 2023-07-07 | 2023-07-07 | Artificial muscle-based line-driven flexible touch bionic finger |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310830506.4A CN117047746A (en) | 2023-07-07 | 2023-07-07 | Artificial muscle-based line-driven flexible touch bionic finger |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN117047746A true CN117047746A (en) | 2023-11-14 |
Family
ID=88659742
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310830506.4A Pending CN117047746A (en) | 2023-07-07 | 2023-07-07 | Artificial muscle-based line-driven flexible touch bionic finger |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117047746A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117644085A (en) * | 2024-01-29 | 2024-03-05 | 山东乾通重工科技有限公司 | Jet cleaning device after electric motor car production |
-
2023
- 2023-07-07 CN CN202310830506.4A patent/CN117047746A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117644085A (en) * | 2024-01-29 | 2024-03-05 | 山东乾通重工科技有限公司 | Jet cleaning device after electric motor car production |
| CN117644085B (en) * | 2024-01-29 | 2024-04-09 | 山东乾通重工科技有限公司 | Jet cleaning device after electric motor car production |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| Saudabayev et al. | Sensors for robotic hands: A survey of state of the art | |
| Truby et al. | Soft robotic fingers with embedded ionogel sensors and discrete actuation modes for somatosensitive manipulation | |
| Hughes et al. | Soft manipulators and grippers: A review | |
| Odhner et al. | A compliant, underactuated hand for robust manipulation | |
| Cui et al. | Enhancing the universality of a pneumatic gripper via continuously adjustable initial grasp postures | |
| Dahiya et al. | Tactile sensing—from humans to humanoids | |
| CN117047746A (en) | Artificial muscle-based line-driven flexible touch bionic finger | |
| Kappassov et al. | Semi-anthropomorphic 3D printed multigrasp hand for industrial and service robots | |
| Yoon et al. | Elongatable gripper fingers with integrated stretchable tactile sensors for underactuated grasping and dexterous manipulation | |
| Jiang et al. | Fiber optically sensorized multi-fingered robotic hand | |
| Wang et al. | Biomechatronic approach to a multi-fingered hand prosthesis | |
| Caldwell et al. | Multi-armed dexterous manipulator operation using glove/exoskeleton control and sensory feedback | |
| KR20140018563A (en) | Exoskeleton-type glove for supporting motion of body by twisting string | |
| Yuen et al. | Toward closed-loop control of pneumatic grippers during pack-and-deploy operations | |
| US10322511B1 (en) | Robotic finger shape recovery | |
| Iwata et al. | Design of anthropomorphic dexterous hand with passive joints and sensitive soft skins | |
| Haghshenas-Jaryani et al. | Design and development of a novel soft-and-rigid hybrid actuator system for robotic applications | |
| Gerez et al. | Employing pneumatic, telescopic actuators for the development of soft and hybrid robotic grippers | |
| Matsuoka | The mechanisms in a humanoid robot hand | |
| Banks | Design and control of an anthropomorphic robot finger with multi-point tactile sensation | |
| Kim et al. | Design of a bioinspired robotic hand: Magnetic synapse sensor integration for a robust remote tactile sensing | |
| CN207901180U (en) | A kind of Apery manipulator | |
| Mozaffari Foumashi et al. | State-of-the-art of hand exoskeleton systems | |
| Stellin et al. | Preliminary design of an anthropomorphic dexterous hand for a 2-years-old humanoid: towards cognition | |
| Hassan et al. | Soft multi-point waveguide sensor for proprioception and extereoception in inflatable fingers |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |