CN212241086U - Pneumatic manipulator based on Kinect remote control - Google Patents
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- CN212241086U CN212241086U CN202020543236.0U CN202020543236U CN212241086U CN 212241086 U CN212241086 U CN 212241086U CN 202020543236 U CN202020543236 U CN 202020543236U CN 212241086 U CN212241086 U CN 212241086U
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- 210000001145 finger joint Anatomy 0.000 claims abstract description 33
- 210000003205 muscle Anatomy 0.000 claims abstract description 21
- 238000004422 calculation algorithm Methods 0.000 claims description 9
- 238000010146 3D printing Methods 0.000 claims description 4
- 230000006835 compression Effects 0.000 claims description 3
- 238000007906 compression Methods 0.000 claims description 3
- 238000005516 engineering process Methods 0.000 claims description 3
- 210000002435 tendon Anatomy 0.000 claims description 3
- 230000033001 locomotion Effects 0.000 abstract description 9
- 230000005540 biological transmission Effects 0.000 abstract description 3
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- 230000004044 response Effects 0.000 abstract description 2
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- 238000004458 analytical method Methods 0.000 description 3
- 238000013528 artificial neural network Methods 0.000 description 3
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- 230000006872 improvement Effects 0.000 description 3
- 230000009466 transformation Effects 0.000 description 3
- 230000007547 defect Effects 0.000 description 2
- 230000005057 finger movement Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
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Abstract
The utility model discloses an pneumatic manipulator based on Kinect remote control, including Kinect sensor, computer, DA embedded board, the pneumatic proportional valve of PWM piezoelectric type, pneumatic triplet, air compressor, artifical muscle, spring and finger joint, its characterized in that: the Kinect sensor is arranged on one side of the finger joint, and meanwhile, the camera module of the Kinect sensor faces the finger joint. The utility model discloses a pneumatic humanoid manipulator overall dimension is the same basically with the staff, this manipulator realizes the human-computer interaction, and can remote control, transmission novel structure, it is convenient to point control, the motion is nimble, it is big to point motion range, the range of application is wide, and adopt even there is the leakage of pneumatic manipulator system, can not cause the pollution like hydraulic pressure yet, WM pneumatic proportional valve dynamic response is fast, and is with low costs, strong to the resistance of noise, and use every pixel of the image that the camera of Kinect sensor returned to show this some distance from the camera, the unit is mm, consequently, the precision of surveying is higher.
Description
Technical Field
The utility model relates to a human-computer interaction field specifically indicates a pneumatic manipulator based on Kinect remote control.
Background
With the development of robotics, the application field of robots is continuously widened, the complexity of tasks and environments of robot operation is continuously increased, and the defects of complex operation, long system delay and the like exist in the conventional robot man-machine interaction which usually adopts operating modes such as rockers or keys and the like.
The human joint has excellent characteristics which the existing robot does not have, and not only can realize more accurate position control, but also has good flexibility. This characteristic is determined primarily by the antagonistic muscle drive patterns employed by the joints. The joint driving device of the present manipulator has some disadvantages, such as: because the number of the used mechanisms is large, a large amount of energy is consumed by overcoming the friction among the mechanisms in the transmission process, and the energy of the output end is greatly reduced compared with the energy generated by the input end; the driving device has a complex structure and a large external volume, which affects the flexibility of use.
SUMMERY OF THE UTILITY MODEL
The to-be-solved technical problem of the utility model is, provide a pneumatic manipulator based on Kinect remote control to above problem.
In order to solve the technical problem, the utility model provides a technical scheme does: the utility model provides a pneumatic manipulator based on Kinect remote control, includes Kinect sensor, computer, the embedded board of DA, the pneumatic proportional valve of PWM piezoelectric type, pneumatic triplet, air compressor, artifical muscle, spring and finger joint, its characterized in that: the Kinect sensor is arranged on one side of the finger joint, the camera module of the Kinect sensor faces the finger joint, an input/output interface of the Kinect sensor is electrically connected with a computer, an input interface of the D/A embedded plate is electrically connected with the computer, an output interface of the D/A embedded plate is electrically connected with one end of a proportional amplifier of the PWM piezoelectric pneumatic proportional valve, the PWM piezoelectric pneumatic proportional valve adopts a three-position five-way valve, a pipeline is arranged between the pneumatic input interface of the PWM piezoelectric pneumatic proportional valve and the pneumatic triplet for connection, an input port of the pneumatic triplet is connected with an air compressor, the artificial muscle adopts pneumatic muscle, the pneumatic output interface of the PWM piezoelectric pneumatic proportional valve is connected with the artificial muscle through a hose, and the other end of the artificial muscle is connected with the finger joint of the manipulator through a rope, the spring locate finger joint's inside recess department, the both ends of spring are through the bump fixed assembly connection in compression and the recess, every finger joint be independent setting, every finger joint corresponds and is equipped with PWM piezoelectric type pneumatic proportional valve, artificial muscle, spring.
Compared with the prior art, the utility model the advantage lie in: the utility model discloses a pneumatic humanoid manipulator's overall dimension is the same basically with the staff, transmission novel structure, it is succinct compact, it is convenient to point control, the motion is nimble, finger motion range is big, the range of application is wide, and even there is leakage in adopting pneumatic manipulator system, can not pollute product and environment like hydraulic system yet, do not receive electromagnetic interference, it is little that there is the harmonic in the pneumatic proportional valve of PWM piezoelectric type simultaneously, impulse equivalence principle simulation sine wave that utilizes the inertia link, and the pneumatic proportional valve dynamic response of PWM piezoelectric type is fast, power side power factor is high, control circuit is simple relatively, low cost, strong resistance to noise, and every pixel of the image that uses the camera of Kinect sensor to return represents this point apart from the distance of camera, the unit is mm, consequently, the precision of surveying is higher.
As an improvement, the finger joints are designed by adopting a 3D printing technology, and meanwhile, the control manipulator uses an artificial muscle-FluidicMuscle of Festo company.
As an improvement, a tendon and a spring are arranged in each finger joint.
As an improvement, the computer uses an ANFIS algorithm, and the Kinect sensor, the computer and the PWM piezoelectric pneumatic proportional valve form an integral control system instead of a traditional PID control system to control the manipulator and complete the calculation of inverse kinematics.
Drawings
Fig. 1 is a system block diagram of a pneumatic manipulator based on Kinect remote control.
Fig. 2 is a flow chart of a pneumatic manipulator based on Kinect remote control.
Fig. 3 is a schematic structural diagram of a pneumatic humanoid manipulator of a pneumatic manipulator based on Kinect remote control.
Fig. 4 is a positive kinematic finger coordinate diagram of the manipulator.
FIG. 5 is a block flow diagram of the inverse motion of ANFIS.
As shown in the figure: 1. the system comprises a Kinect sensor, 2 a computer, 3 a D/A embedded board, 4 a PWM piezoelectric type pneumatic proportional valve, 5 a pneumatic triplet, 6 an air compressor, 7 an artificial muscle, 8 a spring, 9 and a finger joint.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
The utility model discloses when concrete implementation, a pneumatic manipulator based on Kinect remote control, including Kinect sensor 1, computer 2, DA embedded board 3, the pneumatic proportional valve of PWM piezoelectric type 4, pneumatic triplet 5, air compressor 6, artificial muscle 7, spring 8 and finger joint 9, its characterized in that: the Kinect sensor 1 is arranged on one side of a finger joint 9, a camera module of the Kinect sensor 1 faces the finger joint 9, an input/output interface of the Kinect sensor 1 is electrically connected with a computer 2, an input interface of the D/A embedded plate 3 is electrically connected with the computer 2, an output interface of the D/A embedded plate 3 is electrically connected with one end of a proportional amplifier of a PWM piezoelectric pneumatic proportional valve 4, the PWM piezoelectric pneumatic proportional valve 4 adopts a three-position five-way valve, a pipeline is arranged between the pneumatic input interface of the PWM piezoelectric pneumatic proportional valve 4 and the pneumatic triplet 5, an input port of the pneumatic triplet 5 is connected with an air compressor 6, the artificial muscle 7 adopts pneumatic muscle, and a pneumatic output interface of the PWM piezoelectric pneumatic proportional valve 4 is connected with the artificial muscle 7 through a hose, the other end of the artificial muscle 7 is connected with a finger joint 9 of the manipulator through a rope, the spring 8 is arranged in an inner groove of the finger joint 9, two ends of the spring 8 are fixedly assembled and connected with salient points in the groove through compression, each finger joint 9 is independently arranged, and each finger joint 9 is correspondingly provided with the PWM piezoelectric type pneumatic proportional valve 4, the artificial muscle 7 and the spring 8.
The finger joint 9 is designed by adopting a 3D printing technology, and meanwhile, the control manipulator uses an artificial muscle-FluidicMuscle of Festo company.
A tendon and a spring 8 are arranged in each finger joint 9.
The computer 2 uses an ANFIS algorithm, and the Kinect sensor 1, the computer 2 and the PWM piezoelectric type pneumatic proportional valve 4 form an integral control system instead of a traditional PID control system to control the manipulator and complete the calculation of inverse kinematics.
The utility model discloses a theory of operation: the utility model discloses a pneumatic humanoid manipulator to the aspect of making, the part of manipulator need carry out 3D and print. Since most parts are non-standard and have various shapes, 3D printing is required for manufacturing.
Meanwhile, in the aspect of Kinect gesture recognition control system, a Kinect manipulator is designed to meet the requirement of remote control more simply and conveniently, the manipulator can be operated under the condition of danger or remote, the inverse kinematics can be effectively solved by using the ANFIS algorithm, the grabbing of the manipulator is facilitated, the manipulator is controlled to use the artificial muscle-fluidicMicrocle of Festo company, in inputting data of the calculated angle into the D/a embedded board using the D/a embedded board, then the FluidicMuscle is controlled to meet the requirement of movement when the valve is connected to the PWM pneumatic pressure regulating valve, and the self-adaptive neural fuzzy inference system arranged in the computer is a novel fuzzy inference system structure organically combining fuzzy logic and a neuron network, adopts a mixed algorithm of a back propagation algorithm and a least square method to adjust the precondition parameters and the conclusion parameters, and can automatically generate the If-Then rule. An Adaptive neural Network-based Fuzzy Inference System (ANFIS) organically combines a neural Network and Fuzzy Inference, thereby not only playing the advantages of the neural Network and the Fuzzy Inference, but also making up the respective defects.
The manipulator carries out solution of inverse kinematics according to ANFIS, the method is an approximate solution and a unique solution for solving the inverse kinematics of the manipulator, and most of the inverse kinematics solutions calculated by using methods such as a Cyclic Coordinate Descent (CCD) algorithm, a BFGS algorithm, a Jacobian pseudo-inverse (Jacobian pseudo-inverse) and the like are not unique solutions, so that the algorithm has remarkable advantages.
The kinematic analysis of the designed manipulator is the basis, and the relationship between the joint angle and the final motion coordinate of each finger is mainly analyzed. First, a coordinate system is established for the finger, and positive kinematics analysis is performed based on the relationship of the coordinates. The positive kinematics of the manipulator is the final motion state of the end finger according to the change of the angle. Thus, taking one finger as an example for analysis, the other four fingers are the same. The coordinate system of the finger can be seen in fig. 4.
The positive kinematics is solved according to the critical angles theta of the fingers1，θ2And theta3And solving the position coordinates and the postures of the tail ends of the fingers. The manipulator can be known from the coordinate relation of the fingers, the tandem manipulator can be known, and the coordinates of the finger tip of the manipulator can be obtained according to a D-H parameter method of the manipulator. The relevant parameters of the manipulator are shown in Table 1, alphaiThe torsion angle of the finger joint i; liIs the length of the finger joint; a isiIs the link offset on the joint axis i; thetaiIs an angle to the connecting rod i, wherein i is 1, 2, 3;
TABLE 1 finger Link parameters
The D-H transformation matrix obtained by using the D-H parameter method is as follows:
D-H transformation is carried out on the established matrix to obtain a matrix transformed relative to the base coordinate, wherein the matrix is as follows:
wherein for c in the matrix represent cos, s represents sin, and l represents1c1＝l1cosθ1，l2c2＝l2cos(θ1+θ2)， l3c3＝l3cos(θ1+θ2+θ3) The coordinates of the final finger movement can be derived as
x＝l1cosθ1+l2cos(θ1+θ2)+l3cos(θ1+θ2+θ3)
y＝l1sinθ1+l2sin(θ1+θ2)+l3sin(θ1+θ2+θ3)
The final coordinates and pose of the finger movement can be derived from the final derived formula.
The inverse kinematics of the manipulator calculates the motion angle of each joint of the manipulator according to the known last coordinates of the fingers, and is essentially the inverse process of the positive kinematics solution. And analyzing according to the established coordinates, wherein the formula is as follows:
t in the formula is a matrix of the transformation,
the orientation angle of the rod connected with the fingertip relative to the positive direction of the X axis can be obtained according to the matrix:
the relation between sine and cosine can be obtained by calculation:
from the knowledge of the inverse trigonometric function, θ can be calculated2＝arctan(s2,c2) Can be calculated according to the same calculation method
θ1＝arctan2(y,x)-arctan2(l2s2,l1+l2c2)
Finally obtained
The angle of (A) is as follows:
furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature, and in the description of the invention, "plurality" means two or more unless a limitation is explicitly stated.
In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "fixed" are to be construed broadly and may include, for example, fixed connections, detachable connections, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.
In the present disclosure, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may comprise direct contact between the first and second features, or may comprise contact between the first and second features not directly. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly above and obliquely above the second feature, or simply meaning that the first feature is at a lesser level than the second feature.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
Although embodiments of the present invention have been shown and described, it is to be understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that changes, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art without departing from the principles and spirit of the present invention.
Claims (4)
1. The utility model provides a pneumatic manipulator based on Kinect remote control, includes Kinect sensor (1), computer (2), D/A embedded board (3), PWM piezoelectric type pneumatic proportional valve (4), pneumatic triplet (5), air compressor (6), artificial muscle (7), spring (8) and finger joint (9), its characterized in that: the Kinect sensor (1) is arranged on one side of a finger joint (9), a camera module of the Kinect sensor (1) faces the finger joint (9), an input/output interface of the Kinect sensor (1) is electrically connected with a computer (2), an input interface of a D/A embedded plate (3) is electrically connected with the computer (2), an output interface of the D/A embedded plate (3) is electrically connected with one end of a proportional amplifier of a PWM piezoelectric pneumatic proportional valve (4), the PWM piezoelectric pneumatic proportional valve (4) adopts a three-position five-way valve, a pipeline is arranged between the pneumatic input interface of the PWM piezoelectric pneumatic proportional valve (4) and the pneumatic triplet (5) for connection, an input port of the pneumatic triplet (5) is connected with an air compressor (6), and an artificial muscle (7) adopts pneumatic muscle, the pneumatic output interface of the PWM piezoelectric pneumatic proportional valve (4) is connected with the artificial muscle (7) through a hose, the other end of the artificial muscle (7) is connected with a finger joint (9) of a manipulator through a rope, a spring (8) is arranged in an inner groove of the finger joint (9), two ends of the spring (8) are fixedly assembled and connected with bumps in the groove through compression, each finger joint (9) is independently arranged, and each finger joint (9) is correspondingly provided with the PWM piezoelectric pneumatic proportional valve (4), the artificial muscle (7) and the spring (8).
2. The Kinect-based remote operated pneumatic manipulator as claimed in claim 1, wherein: the finger joint (9) is designed by adopting a 3D printing technology, and meanwhile, the control manipulator uses an artificial muscle-FluidicMuscle of Festo company.
3. The Kinect-based remote operated pneumatic manipulator as claimed in claim 1, wherein: each finger joint (9) is internally provided with a tendon and a spring (8).
4. The Kinect-based remote operated pneumatic manipulator as claimed in claim 1, wherein: the computer (2) uses an ANFIS algorithm, and the Kinect sensor (1), the computer (2) and the PWM piezoelectric type pneumatic proportional valve (4) form an integral control system.
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Granted publication date: 20201229 |