Semi-flexible multi-finger manipulator based on soft steel belt and toroidal worm and control method

Abstract

The invention discloses a semi-flexible multi-finger manipulator based on a soft steel belt and a toroidal worm and a control method. The multi-finger manipulator comprises a support unit, a grabbing unit, a manipulator hoisting unit and a control unit, wherein the support unit comprises a main support and a side support and is used for installing the grabbing unit; the grabbing unit is arranged on the outer side of the support unit and comprises multiple sets of single-finger driving mechanisms and an angle rotating mechanism, and the upper end of one set of single-finger driving mechanism is hinged to the mounting area of the main support; the angle rotating mechanism is mounted at the connecting end of the side support; the manipulator hoisting unit is arranged above the support unit, the upper end of the manipulator hoisting unit is connected with a mechanical arm, and the lower end of the manipulator hoisting unit is connected with the support unit; and the control unit comprises a controller and a control switch. The control method comprises the following steps that the spatial arrangement of the grabbing unit is adjusted according to an object; the grabbing unit is opened to be aligned with the target object; the position of the grabbing unit is adjusted, and the finger tips clamp the target object; and the clamping degree of the grabbing unit is adjusted. The semi-flexible multi-finger manipulator has the beneficial effects of adapting to target objects in various shapes, and realizing flexible clamping and stable carrying.

Description

technical field [0001] The invention belongs to the field of industrial robots, and relates to a semi-flexible multi-fingered manipulator based on a mild steel belt and a toroidal worm and a control method. Background technique [0002] The manipulator is a kind of imitating human finger action, using mechanical drive to realize the grasping and moving of the target object, and completing various expected tasks through programming. It takes into account the advantages of mechanical strength and flexibility of human fingers in terms of structure and performance. [0003] Existing manipulators are divided into special-purpose manipulators and general-purpose manipulators: the fingers of special-purpose manipulators are specially designed according to the shape of the target, and can better match the shape characteristics of the target for stable grasping and handling; general-purpose manipulators are mostly It is designed with three fingers and five fingers, which are often a...

AI Technical Summary

Problems solved by technology

[0012] 1) The installation positions of the three fingers are separated by 120° on the base and distributed evenly, and the phalanx rotation range of each finger is in a vertical plane, so that the shape of the grasping target is limited

Among various basic geometric shapes, it is obvious that the manipulator is not suitable for grasping cylindrical objects (such as pipes)

[0013] 2) When only one finger touches the target surface stably or the contact mode is point or line contact, the grasping effect is not ideal;

[0014] 3) Although the combination of the compression spring and the push rod has been added to the structure of the second phalanx, the contact fit effect has been improved to a certain extent, but in essence, the first contact surface and the second contact surface of the second phalanx are both rigid surfaces. Small areas of contact with the target surface are still not ideal;

[0015] 4) In the state of point, line, and small-area contact, since the second phalanx and fingertips are both under-actuated mechanical structures, to achieve stable grasping, a large force needs to be applied to the first phalanx, which will not only lead to the target The possibility of destructive damage to objects, and high requirements on the material and structural strength of the first phalanx, resulting in increased manufacturing and processing costs;

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