Dexterous finger mechanism, manipulator and control method

Abstract

The invention provides a dexterous finger mechanism, a manipulator and a control method. Wherein the dexterous finger mechanism includes a base body, a finger hinged at one end to the base body, a pressure sensor arranged at the other end of the finger, and a driving device for driving the finger to swing; A hinge, a connecting rod whose other end is hinged to the slide bar, and a power assembly for driving the slide bar to move axially. A manipulator includes the dexterous finger mechanism. The control method includes steps: A. After receiving the pressure application instruction, determine the target deformation corresponding to the target pressure according to the preset spring deformation-pressure value curve; B. Control the movement of the push rod according to the target deformation; C. According to the actual measurement Adjust the position of the push rod so that the pressure value is within the tolerance range of the target pressure. The dexterous finger mechanism, the manipulator and the control method can collect pressure data applied on the object in real time, and effectively improve the control precision of the applied force.

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

Images