CN213005283U - Manipulator synchronous control demonstration instrument based on flexible strain sensor - Google Patents
Manipulator synchronous control demonstration instrument based on flexible strain sensor Download PDFInfo
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- CN213005283U CN213005283U CN202020881081.1U CN202020881081U CN213005283U CN 213005283 U CN213005283 U CN 213005283U CN 202020881081 U CN202020881081 U CN 202020881081U CN 213005283 U CN213005283 U CN 213005283U
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Abstract
The invention relates to a manipulator synchronous control demonstration instrument based on a flexible strain sensor, belonging to the technical field of flexible sensing; the device comprises flexible sensing gloves, a mechanical control module and a simulation manipulator; the simulation manipulator is fixed on the operating platform and is connected with the mechanical control module; the flexible sensing glove comprises a glove, a flexible sensor, a first single chip microcomputer and a first power supply module; the mechanical control module comprises a second single chip microcomputer, a steering engine control panel, a steering engine and a second power supply module; the second single chip microcomputer receives signals of the first single chip microcomputer about finger actions of a user through Bluetooth, and the steering engines are controlled to move through the steering engine driving plates, so that synchronous demonstration of gestures of the simulation manipulator and human body gestures is achieved. The invention utilizes the flexible sensing glove to capture the action of the finger of a user, and sends a signal for controlling the movement of the node to the singlechip for controlling the manipulator through the singlechip on the glove, thereby controlling the rotation of each steering engine to realize the purpose that the manipulator imitates the movement of a human hand.
Description
Technical Field
The invention belongs to the technical field of flexible sensing, and particularly relates to a manipulator synchronous control demonstration instrument based on a flexible strain sensor.
Background
With the development of the information age, the expectation values and the idealization requirements of the measurement range, the precision, the stable condition and other performance parameters of the information in the fields of human society and industrial technology are gradually improved. Aiming at the measurement requirements of gas, pressure and humidity under special environment and special signals, the common sensor can not meet the requirements far away, so that scientific researchers invest in developing new materials, new processes and developing novel sensors. At the same time, it is desirable that the sensor also be transparent, flexible, extensible, freely bendable or even foldable, portable, wearable, etc. With the development of flexible substrate materials, flexible sensors satisfying the above-mentioned various trend characteristics have been developed.
The existing manipulator synchronous control demonstration instrument generally adopts mechanical devices such as springs, electromagnets and hydraulic mechanisms as a touch feedback device, and has the problems of complex structure, large volume, difficulty in wearing and the like. Based on a flexible substrate material, the manipulator synchronous control demonstration instrument based on the flexible strain sensor is provided, namely, the actions of the hands of an operator are captured through flexible sensing gloves, and then the manipulator is controlled through a single chip microcomputer to achieve the purpose of making the same actions. Not only the innovation on contact sensing is realized, but also the human-computer interaction is more natural. However, the wide market application is not available at present, so that a demonstration instrument is designed to show the value of the demonstration instrument in teaching application.
Disclosure of Invention
The technical problem to be solved is as follows:
in order to avoid the defects of the prior art, the invention provides a manipulator synchronous control demonstration instrument based on a flexible strain sensor.
The technical scheme of the invention is as follows: the utility model provides a manipulator synchro control demonstrates appearance based on flexible strain transducer which characterized in that: the device comprises flexible sensing gloves, a mechanical control module and a simulation manipulator; the simulation manipulator is fixed on the operating platform and is connected with the mechanical control module;
the flexible sensing glove comprises a glove, flexible sensors, a first single chip microcomputer and a first power supply module, wherein the 5 flexible sensors are respectively arranged on five fingers of the glove, are connected with the first single chip microcomputer and are used for capturing the actions of the fingers of a user; the first single chip microcomputer and the first power supply module are arranged on the glove, and the first power supply module is used for supplying power to the first single chip microcomputer;
the mechanical control module comprises a second single chip microcomputer, a steering engine control panel, steering engines and a second power module, the second single chip microcomputer, the steering engine control panel and the steering engines are sequentially connected, the plurality of steering engines are installed on the simulation manipulator, and the second power module is used for supplying power to the second single chip microcomputer; the second single chip microcomputer receives signals of the first single chip microcomputer about finger actions of a user through Bluetooth, and the steering engines are controlled to move through the steering engine driving plates, so that synchronous demonstration of gestures of the simulation manipulator and human body gestures is achieved.
The further technical scheme of the invention is as follows: the first single chip microcomputer and the second single chip microcomputer are STM32F103ZET 6.
The further technical scheme of the invention is as follows: the flexible sensor comprises a simulation manipulator coating and a substrate, wherein the coating is a mixture of vanadium nitride and a carbon nano tube, and the substrate is polydimethylsiloxane.
The further technical scheme of the invention is as follows: the number of the steering engines is 5, and the steering engines are respectively arranged on five fingers of the simulation manipulator.
Advantageous effects
The invention has the beneficial effects that: according to the invention, the flexible strain sensor is arranged on the glove to manufacture the flexible sensing glove, so that the synchronous movement of fingers and mechanical fingers is realized, the control mode of the mechanical arm is more flexible and diversified, and the man-machine interaction is more natural. The demonstration instrument is simple and convenient to operate, can visually display the flexible sensing and human-computer interaction technology, and has a strong demonstration effect.
Drawings
FIG. 1 is a schematic view of a flexible sensor;
FIG. 2 is a schematic view of a flexible sensing glove;
FIG. 3 is an overall layout diagram of a circuit of a synchronous control manipulator demonstration instrument based on a flexible sensor;
description of reference numerals: the sensor comprises 1-a mixture of vanadium nitride and a carbon nano tube, 2-Polydimethylsiloxane (PDMS) substrate, 3-a flexible sensor, 4-a first single chip microcomputer, 5-a second single chip microcomputer, 6-a steering engine control board and 7-an artificial manipulator.
Detailed Description
The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
The invention relates to a manipulator synchronous control demonstration instrument based on a flexible strain sensor, which comprises flexible sensing gloves, a mechanical control module and a simulation manipulator 7;
as shown in fig. 2, the flexible sensing glove comprises a glove, flexible sensors 3, a first single chip microcomputer 4 and a first power module, wherein 5 flexible sensors 3 are respectively arranged at the inner sides of five fingers of the glove, are connected with the first single chip microcomputer 4 and are used for capturing the actions of the fingers of a user; the first single chip microcomputer and the first power supply module are arranged on the glove, and the first power supply module is used for supplying power to the first single chip microcomputer;
as shown in fig. 3, the mechanical control module comprises a second single chip microcomputer 5, a steering engine control panel 6, steering engines and a second power module, the second single chip microcomputer 5, the steering engine control panel 6 and the steering engines are sequentially connected, a plurality of steering engines are mounted on the simulation manipulator 7, and the second power module is used for supplying power to the second single chip microcomputer 5; the second single chip microcomputer 5 receives signals of the first single chip microcomputer 4 about finger actions of a user through Bluetooth, and controls the steering engines to move through the steering engine driving plates 6, so that synchronous demonstration of gestures of the simulation manipulator 7 and human body gestures is achieved.
The first single chip microcomputer and the second single chip microcomputer are STM32F103ZET 6.
As shown in fig. 1, a flexible sensor 3 is a novel stress sensor, and when the sensor is prepared, a mixture 1 of vanadium nitride and carbon nanotubes is coated on a Polydimethylsiloxane (PDMS) substrate 2, and dried to prepare the stress sensor with stable performance, and two ends of the sensor are respectively provided with a lead wire and can be respectively connected to a circuit.
As shown in fig. 3, the simulated manipulator 7 is fixed on the table top and connected with the mechanical control module, and the user wears the flexible sensing glove. When the device works, the first power supply module of the flexible sensing glove supplies power to the first single chip microcomputer 4 fixed on the glove, and the second power supply module of the mechanical control module supplies power to the second single chip microcomputer 5 on the desktop and is used for driving the simulation manipulator to move. When the user dresses flexible sensing gloves activity finger, the motion information of finger is through fixing flexible sensor 3 on gloves, gives first singlechip 4 on gloves for the transmission, handles the back through first singlechip 4, sends the information of the control node motion at flexible sensor 3 place for the second singlechip 5 of control mechanical arm through the bluetooth. The second single chip microcomputer 5 for controlling the manipulator controls a steering engine driving plate 6 according to the processed information, the steering engine driving plate 6 controls steering engine movement of each part of the simulated manipulator 7, the gesture of the simulated manipulator 7 is the same as the human gesture, and the demonstration of controlling the manipulator movement through the gesture is achieved.
The invention realizes that the flexible sensing glove captures the human body gesture, controls the action of the simulation manipulator in a wireless manner, can intuitively demonstrate the flexible sensing and control technology, has simple and convenient operation and intuitive demonstration effect, performs demonstration in a manner that the simulation manipulator makes the same action as the human body gesture, and enhances the interestingness and operability of flexible sensing and control demonstration. Meanwhile, the demonstration instrument is wide in application range and high in gesture recognition and reduction precision, the cognition and understanding of students on flexible sensing are improved, and a good teaching effect is achieved in practical application.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made in the above embodiments by those of ordinary skill in the art without departing from the principle and spirit of the present invention.
Claims (3)
1. The utility model provides a manipulator synchro control demonstrates appearance based on flexible strain transducer which characterized in that: the device comprises flexible sensing gloves, a mechanical control module and a simulation manipulator; the simulation manipulator is fixed on the operating platform and is connected with the mechanical control module;
the flexible sensing glove comprises a glove, flexible sensors, a first single chip microcomputer and a first power supply module, wherein the 5 flexible sensors are respectively arranged on five fingers of the glove, are connected with the first single chip microcomputer and are used for capturing the actions of the fingers of a user; the first single chip microcomputer and the first power supply module are arranged on the glove, and the first power supply module is used for supplying power to the first single chip microcomputer;
the mechanical control module comprises a second single chip microcomputer, a steering engine control panel, steering engines and a second power module, the second single chip microcomputer, the steering engine control panel and the steering engines are sequentially connected, the plurality of steering engines are installed on the simulation manipulator, and the second power module is used for supplying power to the second single chip microcomputer; the second single chip microcomputer receives signals of the first single chip microcomputer about finger actions of a user through Bluetooth, and the steering engines are controlled to move through the steering engine driving plates, so that synchronous demonstration of gestures of the simulation manipulator and human body gestures is achieved.
2. The manipulator synchronous control demonstration instrument based on the flexible strain sensor as claimed in claim 1, wherein: the first single chip microcomputer and the second single chip microcomputer are STM32F103ZET 6.
3. The manipulator synchronous control demonstration instrument based on the flexible strain sensor as claimed in claim 1, wherein: the number of the steering engines is 5, and the steering engines are respectively arranged on five fingers of the simulation manipulator.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202020881081.1U CN213005283U (en) | 2020-05-23 | 2020-05-23 | Manipulator synchronous control demonstration instrument based on flexible strain sensor |
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| CN202020881081.1U CN213005283U (en) | 2020-05-23 | 2020-05-23 | Manipulator synchronous control demonstration instrument based on flexible strain sensor |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114968055A (en) * | 2022-05-20 | 2022-08-30 | 重庆科创职业学院 | Electronic glove synchronization system, method, device and storage medium |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114968055A (en) * | 2022-05-20 | 2022-08-30 | 重庆科创职业学院 | Electronic glove synchronization system, method, device and storage medium |
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