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Under-actuated manipulator with manual synchronous control function

A synchronous control, underactuated technology, applied in the field of manipulators, to avoid tilt shift and facilitate grasping

Pending Publication Date: 2019-10-15
ZHEJIANG UNIV CITY COLLEGE
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, there are few studies on the underactuated transmission system on the manipulator, so developing a product that combines the underactuated transmission system with the manipulator has become an urgent problem to be solved

Method used

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  • Under-actuated manipulator with manual synchronous control function
  • Under-actuated manipulator with manual synchronous control function
  • Under-actuated manipulator with manual synchronous control function

Examples

Experimental program
Comparison scheme
Effect test

Embodiment

[0040] Embodiment: a kind of underactuated manipulator with manual synchronous control function, as attached Figure 1-8 As shown, it includes an induction glove body 1, an underactuated manipulator body 2 and a control module 3;

[0041] The induction glove body 1 includes a rubber glove 4 with five fingertips, the back of each fingertip of the rubber glove 4 is fixed with a resistive bending sensor 5; the underactuated manipulator body 2 includes a palm base 6, Five driving fingers 7 are connected to the palm base 6, and an under-actuated mechanism 8 is provided between each driving finger 7 and the palm base 6; , the front end of the finger root block 9 is hinged with the middle finger block 10, and the front end of the middle finger block 10 is hinged with the fingertip block 11; the present invention can perform manual synchronous control on the underactuated manipulator body 2 through the induction glove body 1, so that the underactuated manipulator The main body 2 accu...

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Abstract

The invention discloses an under-actuated manipulator with a manual synchronous control function. The under-actuated manipulator comprises an induction glove main body, an under-actuated manipulator main body and a control module; the induction glove main body comprises a rubber glove with five finger sleeves; resistance bending sensors are fixed on the back surfaces of the five finger sleeves ofthe rubber glove; the under-actuated manipulator main body comprises a palm base; the palm base is connected with five driving fingers; an under-actuated mechanism is arranged between each driving finger and the palm base; the control module comprises a single-chip microcomputer module; the single-chip microcomputer module is connected with the resistance bending sensors, and is used for receivingfeedback signals of the resistance bending sensors; and the single-chip microcomputer module is connected with a driving steering engine. The induction glove can be used for manual synchronous control of the manipulator; and the improved under-actuated mechanism is used for driving, so that the under-actuated manipulator has the characteristics of high adaptability, high strength and simple control.

Description

technical field [0001] The invention relates to the technical field of manipulators, in particular to an underactuated manipulator with a synchronous control function of human hands. Background technique [0002] With the development of society and the advancement of science and technology, robot technology in today's world, as an important branch of high technology, has generally received attention from all countries, and has achieved great development and leapfrog in many fields such as industrial production, space and ocean exploration, national defense construction, and people's lives. more and more widely used. The precision and complexity of the robot's operating environment and execution tasks are becoming higher and higher. Ordinary robots and the end clamping devices equipped with them are far from being able to meet the needs of aerospace operations, deep-sea operations, nuclear industry technology, and other flexible production lines. In order to meet the require...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J13/00B25J13/08B25J15/00B25J19/02B25J17/00
CPCB25J13/00B25J13/08B25J15/00B25J19/02B25J17/00B25J15/0009
Inventor 俞雯陈雨欣吴乾新
Owner ZHEJIANG UNIV CITY COLLEGE
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