Flat clip perception adaptive robot finger device and its control method

Abstract

The invention discloses a parallel-clamping perception self-adaptation robot finger device and a control method thereof and belongs to the technical field of robot hands. The device comprises a base, two finger sections, two joint shafts, a driver, a composite flexible rod, sensors, a control module, a motor drive module and the like. The device can better achieve the functions of parallel clamping and self-adaptation grabbing, the second finger section can be horizontally moved to pinch and clamp objects according to the different shapes and positions of the target objects, and the second finger section and the first finger section can also be rotated in sequence to be in self-adaptation to objects different in shape and size. The device is large in grabbing range, stable in grabbing process and controllable in grabbing force, a transmission chain is short, reprogramming does not need to be conducted when different objects are grabbed, and use is simple and convenient. High flexibility, high self-adaptation, high reliability, high stability and low control difficulty can be achieved for the device, and the device is suitable for robot hands.

Description

technical field [0001] The invention belongs to the technical field of robotic hands, and in particular relates to the design of a flat clamp sensing adaptive robot finger device and a control method thereof. Background technique [0002] The robot can already realize more operation functions, and most of its functions need to be realized by the operation of the robot hand, so the design of the hand structure is the key technology of the robot design. At present, robot fingers are divided into two types: dexterous hands and underactuated hands, each of which has its own advantages and disadvantages. [0003] The disadvantage of the existing dexterous fingers is that they do not have automatic adaptability to the shape and size of the grasped objects, and require a large number of complex calculations of kinematics and dynamics, as well as complex programming for the current problem to achieve multi-joint coordinated motion control, which is difficult to meet Reliable and ro...

AI Technical Summary

Problems solved by technology

[0005] The disadvantage of the existing underactuated fingers is that the transmission chain is long, and problems such as air travel, gaps and lost steps will occur during the transmission process, which will reduce the grasping performance of the finger. When the force is small, the underactuated fingers cannot work. When the grasping force of the first finger segment is large, the underactuated finger can achieve adaptive grasping action, but the grasping force of the second finger segment will be different from that of the first finger segment. The pulling force is very small, and the two are in a certain ratio. In order to improve the grasping force of the second finger segment, the first finger segment has to be increased, but the excessive first finger segment grasping force will crush the object, therefore, for the grasping of many objects, the grasping mode of underactuated fingers is not ideal, such as the underactuated fingers realized by gear transmission (CN1289269C), the underactuated fingers realized by linkage transmission (US5762390)

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