Hand robot

Abstract

The invention relates to a handle-type manipulator, which comprises finger joints, drivers for driving the finger joints, a plurality of fingers of connecting bars supported at the finger joints and driven by the driving the force of the drivers, a motion control portion for respectively controlling the drivers of the fingers, a position detector for checking the positions of the finger joints of relative fingers, and a plurality of strain detectors on all finger devices for detecting the strain on the connecting bars caused by the force on the fingers. The motion controller according to the positions of the finger joints detected by the position detectors and the strains on the connecting bars detected by the strain detectors controls the drivers of relative fingers and adjust the handle force of the fingers. The invention can further comprise a contact position calculator and a load calculator for calculating out the contact positions between the fingers and the handled object according to the position of the finger joints detected by the position detector and the strain of the connecting bars detected by the strain detectors.

Description

technical field [0001] The invention relates to a holding type manipulator. Background technique [0002] When a workpiece or tool is manipulated by a robot, it is known that a manipulator equipped with a plurality of fingers (generally 2 to 3) is mounted on the front end of a robot arm, and the fingers are opened or closed by air pressure to hold the workpiece or tool. In this structure, a servo motor is used as the drive source of the fingers, and the rotational output of the servo motor is converted into a linear motion through a ball screw mechanism to open or close each finger. This so-called servo manipulator has also been put into practical use. Moreover, the scheme of multi-fingered manipulator has also been proposed. Although most of them are in the research stage, as a manipulator that simulates a human hand, it is equipped with multiple (generally more than 3) finger mechanisms with joints, so that these finger mechanisms can perform various functions. Action to ...

AI Technical Summary

Problems solved by technology

In the event of degraded or malfunctioning multi-axis force sensor devices, it is difficult to achieve desired grip force control

Moreover, the price of the multi-axis force sensor device is generally high, and there is a problem that the manufacturing cost of the manipulator increases.

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