Nimble finger mechanism, manipulator and control method

Abstract

The invention provides a nimble finger mechanism, a manipulator and a control method. The nimble finger mechanism comprises a matrix, a finger of which one end is hinged to the matrix, a pressure sensor arranged at the other end of the finger and a driving device for driving the finger to swing, wherein the driving device comprises a sliding rod which can move in the axial direction, a connectingrod of which one end is hinged to the middle part of the finger, and the other end is hinged to the sliding rod, and a power assembly for driving the sliding rod to move in the axial direction. The manipulator comprises the nimble finger mechanism. The control method comprises the following steps of A, after receiving a pressure exerting command, according to a preset spring deformation capacity-pressure value curve, determining target deformation capacity corresponding to target pressure; B, according to the target deformation capacity, controlling a push rod to move; and C, according to themeasured pressure value, adjusting the position of the push rod, so that the pressure value is within the tolerance range of the target pressure. Through the adoption of the nimble finger mechanism, the manipulator and the control method disclosed by the invention, the pressure data exerted on an object can be collected in real time, so that improving the force application degree control accuracyis facilitated.

Description

technical field [0001] The invention relates to the field of robots, in particular to a dexterous finger mechanism, a manipulator and a control method. Background technique [0002] At present, the manipulators used in scenarios such as TCM pulse signal collection, human rehabilitation, massage, physical therapy, soft and fragile objects (such as food, biological embryos) are generally dexterous manipulators. The control precision of force intensity is higher. [0003] However, the fingers of most existing dexterous manipulators use position closed-loop control to realize the control of force application, which mainly includes two types: [0004] The first type is to control by measuring the displacement of the object under force when it is elastically deformed as a feedback signal. This control method is only applicable to the case where the object under force is a non-rigid body, and its application range is small; [0005] The second type is to cover the elastic layer o...

AI Technical Summary

Problems solved by technology

[0004] The first type is to control by measuring the displacement of the object under force when it is elastically deformed as a feedback signal. This control method is only applicable to the case where the object under force is a non-rigid body, and its application range is small;

[0005] The second type is to cover the elastic layer on the fingertips, and control by measuring the displacement of the elastic layer during elastic deformation as a feedback signal. This control method is suitable for the case where the object to be applied is a rigid body. Due to problems such as fatigue deformation and nonlinear deformation (that is, the relationship between deformation displacement and force is nonlinear), it is difficult to achieve precise control of force application

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