A bionic finger with controllable flexibility

Abstract

The invention relates to a bionic finger with controllable flexibility. The flexible and controllable bionic finger includes bionic skin poured into finger shape, electromagnetic coil, strain gauge sensor, magnetorheological fluid, sealing boss, rigid support body, finger control box, nail seat, sealant, sealing gasket, set screw; the bionic finger with controllable compliance The control circuit is mainly composed of three operational amplifiers with high common-mode rejection ratio amplifier circuit, digital-to-analog conversion and single-chip microcomputer chip principle circuit, crystal oscillator circuit, reset circuit, and power supply circuit; The flexible and controllable bionic finger It is a soft and controllable finger based on magnetorheological fluid, which can realize the continuous and controllable "liquid-solid" state transition of magnetorheological fluid; when applying force to the bionic finger, it can ensure that the deformation of the finger is within a certain range Inside, it will not be too large to damage, nor too small to be flexible. In order to improve the ability of the robot to coordinate with the outside world.

Description

technical field [0001] The invention relates to the technical field of industrial robots, in particular to a bionic finger with controllable flexibility. Background technique [0002] At present, if the multi-fingered dexterous hand at the end of the robotic arm adopts a rigid structure, it is likely to cause two problems: one is not in line with the actual situation of human fingers, and it cannot meet the requirements of bionics; the other is that it is easy to damage the surface of some objects. causing damage and making it difficult to achieve a smooth grip. However, with the usual flexible and uncontrollable structure, the deformation of the finger cannot be guaranteed. Excessive deformation will cause damage and cannot protect itself. With the development of intelligent robot technology, it is one of the key technologies for the development of robot technology to develop and develop practical compliant and controllable tactile sensors, that is, compliant and controlla...

AI Technical Summary

Problems solved by technology

[0002]At present, if the multi-fingered dexterous hand at the end of the robotic arm adopts a rigid structure, it will easily cause two problems: one is not in line with the actual situation of human fingers, and cannot It meets the requirements of bionics well; the second is that it is easy to cause damage to the surface of some objects and it is difficult to achieve a smooth grip

However, using the usual flexible and uncontrollable structure, the deformation of the fingers cannot be guaranteed. Excessive deformation will cause damage and cannot protect itself.

Images