Rigid-flexible coupled robotic arm with built-in vision sensor and its deformation detection method

Abstract

The invention discloses a rigid-flexible coupled mechanical arm with a built-in vision sensor and a deformation detection method thereof. The invention includes a drive module and a soft follower arm. The software slave arm moves under the drive of the drive module. The soft body is set from the hollow of the boom. The software is provided with a camera on the inner end or outer end face of the inner cavity of the boom. The soft body has n spot groups printed on the inner wall of the boom. The n spot groups are arranged sequentially along the circumference of the soft body slave arm. A spot group includes m spots arranged in sequence along the length direction of the soft body slave boom. m≥3, n≥3. The rigid-flexible coupling mechanical arm of the present invention is designed with elliptical spots on the inner wall of the soft slave arm. The visual sensor built in the joint hinge can detect the contact between the slave arm and the surrounding environment. As long as the contact force produces measurable deformation, the visual The sensor will use the environment vision algorithm to detect the relationship between the displacement and the contact surface.

Description

technical field [0001] The invention belongs to the technical field of soft robots, and in particular relates to a rigid-flexible coupled mechanical arm with a built-in visual sensor. Background technique [0002] The field of soft robotics is well-positioned for wearable devices and human-robot interaction due to their light weight and compliance. Soft robots and manipulators with inflatable linkages have extremely high safety features, making them a crucial choice for tasks that require human-robot interaction. However, due to the limitations of low structural stiffness, nonlinear properties of soft materials, and gravitational oscillations, accurate positioning of end-effectors can be a difficult task in the absence of precise information. At present, rigid-flexible coupled manipulators mainly focus on the use of flexible sensors on manipulators made of ordinary rigid structural materials, but their stiffness is still too large, which does not reflect the advantages of s...

AI Technical Summary

Problems solved by technology

However, due to the limitations of low structural stiffness, nonlinear characteristics of soft body materials, and gravitational oscillations, accurate positioning of end-effectors can be a difficult task in the absence of precise information.

At present, rigid-flexible coupled manipulators mainly focus on the use of flexible sensors on manipulators made of ordinary rigid structural materials, but their stiffness is still too large, which does not reflect the advantages of software, and additional rigid hardware will increase the complexity of the design. And offset the advantages of soft robotic arms in terms of light weight and compliance

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