CN201109115Y

CN201109115Y - Anthropomorphic manipulator having distribution tactility

Info

Publication number: CN201109115Y
Application number: CN 200720061556
Authority: CN
Inventors: 肖南峰
Original assignee: South China University of Technology SCUT
Current assignee: South China University of Technology SCUT
Priority date: 2007-12-14
Filing date: 2007-12-14
Publication date: 2008-09-03
Anticipated expiration: 2017-12-14

Abstract

The utility model relates to a humanoid manipulator with distributed touch, and the humanoid manipulator comprises a thumb, a forefinger, a middle finger, a ring finger and a little finger. The tail end of each finger is provided with a small-sized force/ torque sensor. The thumb comprises three joints, and the movement of a joint which is linked with a palm is controlled by an electric motor with an orthometric rotating shaft. The movement of the other two joints is controlled by two electric motors, and other fingers all comprise four joints. The movement of a joint which is linked with a palm is controlled by the electric motor with the orthometric rotating shaft, and the movement of each of other three joints is controlled by one motor. The humanoid manipulator has very powerful functions and very high generality, and adapts to situations of mechanical manufacture, chemical production, military combat readiness, medical operation, emergency service and disaster relief, scientific investigation, housework, etc., and the humanoid manipulator replaces human hands to finish various operations of grabbing, holding, pinching, clipping, pushing, pulling, inserting, pressing, shearing, cutting, knocking, beating, tearing, sticking, drawing, dragging, milling, shaving, planing, twisting, etc.

Description

Apery manipulator with distribution sense of touch

Technical field

The application relates to a kind of manipulator, particularly a kind of apery manipulator with distribution sense of touch.

Background technology

At present, in the factory and enterprise of developed countries such as Japan and America and Europe, industry mechanical arm has been widely used for replacing the workman to finish all kinds of simple and repetitive works.These industry mechanical arms are to be limited to finish single operation in the particular environment basically.For some need complex job that staff just can finish under heavy, dangerous, abominable, the limit or general environment for, for example pinch, press from both sides, push away, draw, insert, by, cut, cut, strike, beat, tear, paste, lead, drag, grind, cut, dig, operation such as stranding, it is powerless that common industry mechanical arm then seems.Because the same apery manipulator that has 5 fingers and palm and sense of touch function with staff has extremely strong function and very high versatility, it can replace or help the human operation of finishing all kinds of complexity under various occasions such as machine-building, Chemical Manufacture, nuclear power maintenance, military war preparedness, medical operating, rescue and relief work, scientific investigation, housework deftly fully.Therefore, the factory of each developed country wishes to develop high performance universal apery manipulator just urgently and finishes above-mentioned operation.

Since late 1980s, on the basis of the dexterous manipulator research of original many finger-types, the research of apery manipulator is carried out gradually.Such as, Belgrade/USC Dextrous Hand of development such as the Ven kataraman of Former Yugoslavia in 1987; The NTU the five fingers apery hand of Taiwan Univ.'s development in 1996; The Gifu series hand that the Japan Gifu Haruhisa Kawasaki of university etc. has developed and developed, the existing design of having finished Gifu hand I and Gifu Hand II.The USC hand is the early stage achievement of the five fingers shape Dextrous Hand research, and its simplicity of design, mechanism simple are but very classical.The five fingers shape Dextrous Hand research is now pursued structure and is simplified, and the control system complexity is just hanged down and the USC hand has some relations.Five fingers of this hand only have 4 motor as power part, and 2 drive thumb, and 2 drive other 4 finger in addition.Each finger has 3 parallel axle joints, but has only 1 free degree.So it only can be finished simple dexterous the extracting and can not carry out complicated dexterous manipulation.

In sum, present apery manipulator both domestic and external is to refer to the multi-joint hand from mechanism form mostly, and the most generally pointing number is 3～5, and the joint number of each finger also mostly is 3 cradle heads, and the free degree is 3～5.Existing apery manipulator research is inquired into respectively from different angles such as geometry, kinematics, dynamics, structures mostly, has proposed the extracting campaign that various control methods and Grasp Planning algorithm are simulated staff.No matter the apery manipulator more and more approaches staff in profile and function aspects.But above-mentioned apery manipulator research has following problem:

(1) above-mentioned apery manipulator is to adopt based on the kind of drive of tendon and the drive principle of imitating staff mostly.Although the tendon transmission has many advantages, 1) because the rigidity of tendon is limited,, thereby influenced positional precision so drive system shows certain hysteresis; 2) must carry out pretension to tendon, increase the complexity of structure and the difficulty of assembling, the pretension degree has very big influence to the performance of drive system simultaneously; 3) if the tension force of tendon and fluctuation are very big, vibration that may activating system, thus cause the unstable of tendon or cause the damage of tendon; 4) in the tendon transmission system, the mechanical property of tendon, quantity and the path design in finger have bigger influence for the performance of hand;

(2) control method of above-mentioned apery manipulator is to be equipped with independently to the finger tip place that the finger of power/torque sensor carries out position and force feedback control or Flexible Control basically.These control methods only are fed back to basic adversary's fingering row control with the contact force/moment at finger tip place, do not have the contact force influence of considering or controlling numerous sense of touch points on finger and the palm surface;

(3) above-mentioned apery manipulator research does not have or seldom relates in one's hands and wrist and arm control method for coordinating, do not have according to doing effectively and reasonably adjusting from the contact force/moment feedback adversary of manipulating object and inertia, viscosity, the rigidity parameter of wrist and arm thereof yet, with adapt to the different manipulating objects and the needs of operating environment (such as, the apery manipulator is grasping and processing flaccid products how, and perhaps the grasping metal tools is finished and installed and maintenance);

In a word, existing apery manipulator exists a series of problems such as frame for movement is different, control system is fought separately, control method is incompatible, job description language shortage.Therefore, no matter existing apery manipulator is from its performance and versatility, all is difficult to perhaps finish complicated operation under the various occasions such as space, deep-sea, mine, farmland, family under abominable and dangerous environment.

The utility model content

The purpose of this utility model is the deficiency that has overcome existing multi-finger clever hand technology, provides a kind of universal performance good, has the apery manipulator of distribution sense of touch.

The technical scheme that solves the problems of the technologies described above as shown in Figure 1, a kind of apery manipulator with distribution sense of touch, comprise thumb 1, forefinger 2, middle finger 3, the third finger 4 and little finger of toe 5, the end that it is characterized in that each finger all is provided with small-sized power/torque sensor 8, thumb 1 comprises three joints, controlled motion is come by the motor 7 of a rotating shaft quadrature in the joint that links to each other with palm 6, and controlled motion is come by two motors 7 in two other joint; Other finger includes four joints, and controlled motion is come by the motor 7 of a rotating shaft quadrature in the joint that links to each other with palm 6, and each comes controlled motion by a motor 7 other three joints.

Further, above-mentioned palm 6 is divided into three parts: the part that links to each other with thumb 1, with forefinger 2 part that links to each other with middle finger 3, with nameless 4 parts that link to each other with little finger of toe 5; Motor 7 placed between " part links to each other with thumb 1 " and " part links to each other with forefinger 2 and middle finger 3 ", and motor 7 placed between " part links to each other with forefinger 2 and middle finger 3 " and " part links to each other with nameless 4 and little finger of toe 5 ".

In order to detect the state of apery manipulator better, a 6DOF power/torque sensor 9 is set at the wrist place.

In order to detect the state of apery manipulator further, described apery manipulator also comprises the distribution touch sensor 10 of making and be covered in finger and palm surface zone with pressure-sensing conductive rubber.

Compared with prior art, the utility model has the advantages that and in heavy, dangerous, abominable, the limit or general environment, to replace staff to finish the operation of various complexity.This apery manipulator is applicable to occasions such as machine-building, Chemical Manufacture, nuclear power maintenance, military war preparedness, medical operating, rescue and relief work, scientific investigation, housework, replace staff to finish grabbing, hold, pinch, press from both sides, push away, draw, insert, by, cut, cut, strike, beat, tear, paste, lead, drag, grind, cut, dig, various operations such as stranding.

Description of drawings

Fig. 1 is the apery manipulator principle schematic with distribution sense of touch;

Fig. 2 is the apery robot manipulator structure schematic diagram with distribution sense of touch;

Fig. 3 is the apery manipulator touch sensor schematic diagram with distribution sense of touch;

Fig. 4 is the schematic diagram of first embodiment of the utility model;

Fig. 5 is the schematic diagram of second embodiment of the utility model.

Among the figure: thumb 1, forefinger 2, middle finger 3, nameless 4, little finger of toe 5, palm 6, the stepper motor 7 of control joint motions, small-sized power/torque sensor 8,6DOF power/torque sensor 9 is covered in the distribution touch sensor 10 in finger and palm surface zone.

The specific embodiment

Embodiment 1

As shown in Figure 1, apery manipulator with distribution sense of touch comprises the stepper motor of 5 fingers, 1 palm, 21 control joint motions, 58,1 of small-sized power/torque sensors that are assemblied in the finger tip place are assemblied in the 6DOF power/torque sensor at wrist place.Have the distribution sense of touch the apery manipulator structure as shown in Figure 2, its distribution touch sensor is as shown in Figure 3.By controlling the rotation of 21 stepper motors, detect the frictional force of finger tip and the generation of paper contact position with small-sized power/torque sensor, and detect pressure and the moment of apery manipulator to desk with 6DOF power/torque sensor, just can drive and control 5 fingers of apery manipulator and 1 palm and cooperate mutually and grasp the paper of placing on the desktop.

Action when the apery manipulator with distribution sense of touch grasps the paper be positioned on the table as shown in Figure 4.The apery manipulator will carry out two actions.The first, be torn out in order to prevent paper, 5 fingers of apery manipulator will remove to grasp paper as shown in Figure 4.The second, thumb firmly makes paper become case of bending with forefinger and middle finger, pinches the section of paper, uses the third finger and little finger of toe more successively, keeps paper to fix.When being applied to catch paper, the pressure of apery manipulator is bigger, can produce pressure to a certain degree when pushing on hard desk.This pressure can be guaranteed to produce enough frictional force at the finger synapsis, and can sponge because the thumb track that is pressed on the paper is offset the error that brings a little.

Embodiment 2

As shown in Figure 3, the apery manipulator with distribution sense of touch comprises the distribution touch sensor 10 that is covered in finger and palm surface zone.

Use to take scissors to finish when cutting off operation, include following key element: 1) many constraintss are partly arranged holding scissors; 2) scissors is movable, must control it; 3), exist contact and contacting at joint portion at apery mechanical finger and palm surface.

When shearing operation, when hand opens and closes with scissors on the vertical plane, plane of living in, in addition forefinger of thumb and thumb, middle finger, the third finger, little finger of toe respectively in Fig. 5 direction shown in arrow and the numeral that marked move.Because the distribution touch sensor of apery machine people tool hand can detect the contact force that produces when finger contact with scissors with palm, so can adopt haptic force control method and position control method to produce and control the movement locus of apery manipulator each and palm.Then each finger opens and closes scissors toward the orphan's shape motion of middle intercropping garden respectively and just can shear operation.

The utility model is suitable for occasions such as machine-building, Chemical Manufacture, nuclear power maintenance, military war preparedness, medical operating, rescue and relief work, scientific investigation, housework too, replaces staff to finish various operations.

Claims

1, a kind of apery manipulator with distribution sense of touch, comprise thumb (1), forefinger (2), middle finger (3), nameless (4) and little finger of toe (5), the end that it is characterized in that each finger all is provided with small-sized power/torque sensor (8), thumb (1) comprises three joints, controlled motion is come by the motor (7) of a rotating shaft quadrature in the joint that links to each other with palm (6), and controlled motion is come by two motors (7) in two other joint; Other finger includes four joints, and controlled motion is come by the motor (7) of a rotating shaft quadrature in the joint that links to each other with palm (6), and each comes controlled motion by a motor (7) other three joints.

2, the apery manipulator with distribution sense of touch according to claim 1, it is characterized in that described palm (6) is divided into three parts: part links to each other with thumb (1), with forefinger (2) part that links to each other with middle finger (3), with nameless (4) part that links to each other with little finger of toe (5); A motor (7) placed between " part links to each other with thumb (1) " and " part links to each other with forefinger (2) and middle finger (3) ", and a motor (7) placed between " part links to each other with forefinger (2) and middle finger (3) " and " part links to each other with nameless (4) and little finger of toe (5) ".

3, the apery manipulator with distribution sense of touch according to claim 2, its feature also comprise a 6DOF power/torque sensor (9) that is assemblied in the wrist place.

4,, it is characterized in that also comprising the distribution touch sensor (10) of making and be covered in finger and palm surface zone with pressure-sensing conductive rubber according to the apery manipulator of each described distribution sense of touch of claim 1 to 3.