Contact dynamics simulation method and system for flexible multi-finger picking manipulator

Abstract

The invention discloses a contact dynamics simulation method and system for a flexible multi-finger picking manipulator. The method comprises the following steps: reading in a system model and topological data; controlling the manipulator model to execute a grabbing action, solving kinetic parameters of the manipulator model based on non-collision dynamics, and calculating vibration and deformation of the manipulator model; judging whether collision is generated between the manipulator model and the fruit model or not and forming a collision pair; and when the manipulator model collides with the fruit model, judging the state of a collision pair, and calculating the dynamic response quantity of the manipulator model. According to the invention, the collision contact process of the manipulator model and the fruit model in the grabbing process can be simulated so as to capture the movement speed and deformation of the finger part of the picking manipulator, the collision force, the position of the collision point, the contact state switching of multiple viscous-sliding switching, viscous positive and negative micro sliding and the like of the collision point in the contact process, and a basis can be provided for motion control of a picking manipulator in reality.

Description

technical field [0001] The invention relates to the technical field of computer simulation calculation, in particular to a contact dynamics simulation method and system of a flexible multi-finger picking manipulator. Background technique [0002] The object of the present invention is a picking manipulator for picking fruit. Due to the fragility of the fruit, in the process of picking the fruit by the picking manipulator, the overadjustment of the gripping force will scratch the fruit, and the response speed of the gripping force If it is too slow, the fruit cannot be firmly grasped. Therefore, the flexibility and dexterity of the picking manipulator are very high. Picking manipulators generally need to obtain information such as fingertip force, fingertip speed, and deformation to control the grasping of deformed objects, so that the clamping force can track the set force quickly and without overshoot, and the grasping and operation are performed in a coordinated manner. ....

AI Technical Summary

Problems solved by technology

[0002] The object of the present invention is a picking manipulator for picking fruit. Due to the fragility of the fruit, in the process of picking the fruit by the picking manipulator, the overadjustment of the gripping force will scratch the fruit. The response speed of the gripping force If it is too slow, the fruit cannot be firmly grasped. Therefore, the flexibility and dexterity of the picking manipulator are very high.

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