A grasping method and device based on a frictional nanogenerator bionic manipulator

Abstract

The invention provides a grasping method and device based on a bionic manipulator of a frictional nanogenerator. The device installs a friction nano-generator set on the corresponding joints of the bionic manipulator, and through the voltage fed back by the friction nano-generator set, the bionic manipulator can determine the specific grasping position, strength and hand shape for target objects of different materials and shapes. , will not cause damage and fall off of the object; and has the function of identifying objects during the blind grasping process; at the same time, the electric energy generated by the friction nanogenerator set is utilized, that is, it plays the role of power supply at the same time as the external power supply. The invention has a simple structure, fully utilizes the power supply function of the friction nanogenerator set, and realizes a certain self-power supply function.

Description

technical field [0001] The invention relates to a bionic manipulator, in particular to a grasping method and device based on a friction nanogenerator bionic manipulator. [0002] technical background [0003] With the development of society, manipulators are gradually applied in all aspects of society, and manipulators are also playing an increasingly important role. However, whether it is myoelectric bionic hands in the medical field, manipulators for high-risk work in the military field, or assembly and welding manipulators in the industrial field, there are still many shortcomings. First of all, most of the current manipulators collect images through the camera mounted on the manipulator arm, and then recognize the object, but cannot recognize the object in the process of blind grasping; secondly, the existing manipulator has not considered the appropriate grasping position when grasping the object, which is easy to cause Objects are unstable and fall off; again, with the...

AI Technical Summary

Problems solved by technology

However, whether it is the myoelectric bionic hand in the medical field, the manipulator used for high-risk work in the military field, or the assembly and welding manipulator used in the industrial field, there are still many shortcomings.

First of all, most of the current manipulators collect images through the camera mounted on the manipulator arm, and then recognize the object, but cannot recognize the object in the process of blind grasping; secondly, the existing manipulator has not considered the appropriate grasping position when grasping the object, which is easy to cause Objects are unstable and fall off; again, with the wide application of electronic products, people have higher and higher requirements for the endurance of electronic products. Although the power consumption of microelectronic products is getting smaller and smaller, the energy density of batteries is also increasing. , but these changes can not meet the actual needs

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