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Soft operating arm based on cross-modal tactile sensor and bubble driver

A tactile sensor and driver technology, applied in the direction of program control manipulators, manufacturing tools, chucks, etc., can solve the problem of lack of durable, reliable, versatile software tactile sensors, tactile sensing technology application and commercialization lag, increasing system complexity To achieve the effect of safe human-computer interaction, safe unlimited freedom, and simple production method

Pending Publication Date: 2022-07-22
GUANGDONG UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] For the manipulator driver, the traditional manipulator has fewer degrees of freedom due to the limitation of rigid materials, and increasing the degree of freedom requires the addition of corresponding sensors, which increases the complexity of the system, and there is a large gap in the process of human-computer interaction. Potential safety hazards; for end effectors, the biggest difference between a soft hand and a rigid manipulator is that the body material is flexible. Since soft materials have more complex and rich response characteristics than rigid materials, this not only brings functional flexibility and compliance, There are also more possibilities in the design and control methods of the soft hand
As a branch of the soft robot field, the soft hand is developing rapidly. With its good active and passive adaptability, safety and complex environment adaptability and other performance advantages, it will definitely play an important application value in many fields of production and life. In terms of tactile sensing, the application and commercialization of the existing tactile sensing technology is obviously lagging behind, and most of the research results obtained are still in the laboratory stage. There is basically no durable, reliable, and versatile soft tactile sensor in the world. For this reason, a soft manipulator based on cross-modal tactile sensors and bubble drivers is now proposed.

Method used

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  • Soft operating arm based on cross-modal tactile sensor and bubble driver
  • Soft operating arm based on cross-modal tactile sensor and bubble driver
  • Soft operating arm based on cross-modal tactile sensor and bubble driver

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0038] Refer to the manual attached figure 1 to the attached Figure 10 , based on the software operating arm of the cross-modal tactile sensor and the bubble driver, the bubble driver 3 is arranged between the triangular acrylic support plate 2, and the three bubble drivers 3 are equally spaced around the center at the three vertices of the triangular acrylic support plate 2 Position, the bubble driver 3 is provided with the spring 4 between each other, and the two ends of the spring 4 are fixedly connected with the side of the triangular acrylic support plate 2 that is close to each other, and the three springs 4 are distributed in the position of the center of the edge line of the triangular acrylic support plate 2. To support, the side wall of the top triangular acrylic support plate 2 is fixedly connected with the surface of the square acrylic fixing plate 1, and the bottom surface of the bottom triangular acrylic support plate 2 is fixed with three software pneumatic fin...

Embodiment 2

[0040] Based on the first embodiment, refer to the appendix of the specification figure 1 to the attached Figure 10 , Based on the software operating arm of the cross-modal tactile sensor and the bubble driver, the bubble driver 3 uses PE plastic film as the main material, and uses the triangular acrylic support plate 2 after the through hole to divide the PE plastic film into many retractable small bubbles, three The spring 4 is distributed at the center of the edge of the triangular acrylic support plate 2, and plays a supporting role. The axial expansion and contraction can be achieved by inflating and deflating a single bubble driver 3, while the drive system composed of multiple bubble drivers 3 can be provided by providing Different air intake rates make it bend at a certain angle, so as to realize the bending motion of the robot arm with infinite degrees of freedom;

[0041] The soft film 6 uses the camera module 7 to collect the deformed image of the columnar protrus...

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Abstract

The invention discloses a soft operation arm based on a cross-modal tactile sensor and a bubble driver. The soft operation arm comprises the cross-modal tactile sensor, a soft pneumatic finger, a square fixing plate, a triangular supporting plate and the bubble driver. The mechanical arm has safe man-machine interactivity and infinite degree of freedom, and the motion ability of the mechanical arm is improved; meanwhile, a soft pneumatic finger with a transmembrane state tactile sensing function is carried, so that self-adaptive grabbing can be realized, and multifunctional sensing can be realized by utilizing a transmembrane state tactile sensor, and whether the soft manipulator is in contact with an object or not can be sensed; sensing whether the soft pneumatic finger successfully grabs the object or not, and monitoring the grabbing stability of the object in real time in the process of grabbing and carrying the object; and the contact force in the grabbing process can be sensed, and the output grabbing force can be accurately controlled, so that safe grabbing of an object is realized.

Description

technical field [0001] The invention relates to the technical field of robotic arms and robotic hands, in particular to a software manipulation arm based on a cross-modal tactile sensor and a bubble driver. Background technique [0002] Compared with traditional rigid robots, soft robots have flexibility, adaptability, human-computer interaction safety and biocompatibility, and have broad application prospects in agriculture, animal husbandry, food and medical industries. The grasping of fruits, vegetables and biological tissues) requires that the software gripper and manipulator can grasp and realize automatic handling operations; at the same time, multi-fingered hands, as a substitute for human hands, need to show sufficient flexibility and have tactile perception functions. , to adapt to the unstructured complex contact environment. [0003] For the manipulator drive, the traditional manipulator has fewer degrees of freedom due to the limitation of rigid materials, and i...

Claims

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Application Information

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IPC IPC(8): B25J9/10B25J9/16B25J11/00B25J15/12
CPCB25J11/00B25J9/10B25J15/12B25J9/16B25J9/1694B25J9/1697
Inventor 项超群云涛彭俊杰李靖孙志华王淳锋管贻生朱海飞
Owner GUANGDONG UNIV OF TECH
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