CN106976100A - Bionic soft multi-finger clever hand with pose feedback function - Google Patents
Bionic soft multi-finger clever hand with pose feedback function Download PDFInfo
- Publication number
- CN106976100A CN106976100A CN201710232097.2A CN201710232097A CN106976100A CN 106976100 A CN106976100 A CN 106976100A CN 201710232097 A CN201710232097 A CN 201710232097A CN 106976100 A CN106976100 A CN 106976100A
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- Prior art keywords
- finger
- chamber
- steel wire
- matrix
- hall element
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0009—Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/1653—Programme controls characterised by the control loop parameters identification, estimation, stiffness, accuracy, error analysis
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Prostheses (AREA)
Abstract
A kind of bionic soft multi-finger clever hand with pose feedback function, including five fingers and palm, each finger includes finger main body and finger matrix, the rear end of finger main body is connected with finger matrix front end, the rear end of finger matrix is arranged on palm, and finger main body includes elastic body, steel wire, the first steel wire channel lumens, centre-driven chamber and side driving chamber；Finger matrix includes matrix and air pipe passway chamber, and bionic soft multi-finger clever hand also includes motion pose detection components, and motion pose detection components include the permanent magnet and Hall element cooperated, and the rear end of steel wire connects a permanent magnet；Hall element placed cavity is set in finger matrix, and the first steel wire channel lumens and Hall element placed cavity are communicated and in same central line；Hall element is located in Hall element placed cavity, Hall element with magnet is contactless is oppositely arranged and leaves space each other.Real-time Feedback pose of the present invention, control accuracy are preferable.
Description
Technical field
The present invention relates to manipulator, especially a kind of bionic soft multi-finger clever hand.
Background technology
Existing bionic soft multi-finger clever hand, such as Chinese invention patent application number 201511016016.2 disclose Zhejiang
The multi-finger clever hand driven based on FPA of river polytechnical university research, each of which finger is made up of multiple FPA, and structure is simplified, and is had
Good compliance and adaptability.
The bionical octopus software tentacle developed on software finger, the octopus robot project that European commission subsidizes, its
With good pliability, it can freely wind and capture target object；The mechanical tentacle of software of Harvard University's research and development, by one kind
Flexiplast is made, and inside has three air ducts, through whole trunk；Fertile gram of research and development of the robot scholar of Clemson University
Novel soft snake-shaped robot, plan is intended the robot being used for outer space help mankind crew's execution task.
On referring to grasping device software, having all over the world at present in research more.One of such as Germany's development is main by gathering
The mechanical trunk that acid amides plastics are constituted, the trunk is realized overall stretch by the inflation/deflation of its three internal hollow pipeline
And bending；The starfish formula software Dextrous Hand of George Whiteside team of Harvard University research and development, the embedded gas in molding silica gel
Bulbous passage, to create the material for changing shape in a specific way when air is pumped to passage；It is public by Beijing soft robot
A Pneumatic flexible pawl holder of design is taken charge of, rapid wear, frangible different objects, etc. can accurately be captured.
On software Dextrous Hand, the PBO software Dextrous Hands of Losec Du company of Britain exploitation are loaded on mechanical arm and can be used for
The crawl of fresh based food and packaging, can capture thousand strange as people with a variety of postures, strength of different sizes
Hundred commodity blamed, disclosure satisfy that large warehoused adaptability demand；The humanoid manipulator that TU Delft Polytechnics develops,
It is formed by 3D printing, and the touch and people that can respond people can make feedback when shaking hands just as true man；Connell is big
The flexible machine human hand that researcher produces, can lightly hold object and be unlikely to damage outside the object, may be used also
Shape and texture to feel object, etc..
Soft robot in above-mentioned patent and open source literature can realize the motion to be performed well, but most of
All lack pose self-feedback ability.Pose self-feedback is unusual part and parcel for robot, but in view of software machine
The particularity of device people, current existing most of soft robot does not possess pose feedback capability.
The content of the invention
In order to overcome the shortcomings of poor, this hair that can not feed back pose, control accuracy of existing bionic soft multi-finger clever hand
Bright a kind of Real-time Feedback pose, the control accuracy of providing preferably has the bionic soft multi-finger clever hand of pose feedback function.
The technical solution adopted for the present invention to solve the technical problems is：
A kind of bionic soft multi-finger clever hand with pose feedback function, the Dextrous Hand includes five fingers and hand
The palm, each finger includes finger main body and finger matrix, and the rear end of the finger main body is connected with the finger matrix front end,
The rear end of the finger matrix is arranged on the palm, and the finger main body includes elastic body, steel wire, the first steel wire passage
Chamber, centre-driven chamber and side driving chamber；The elastic body is provided with centre-driven in cylinder, the middle part of the elastic body
Chamber, a first-class circular arc compartment of terrain of circle of the elastic body outside the centre-driven chamber is provided with least three side driving chambers；It is described
Centre-driven chamber and the closing of side driving chamber front end, rear end is communicated with corresponding matrix air pipe passway chamber；The first steel wire passage
Chamber is equally spacedly located between side driving chamber adjacent two-by-two；The steel wire is located at each first steel wire channel lumens middle,
The steel wire front end is fixed；
The finger matrix includes matrix and air pipe passway chamber, and described matrix is cylindrical, described matrix center and periphery
Air pipe passway chamber is uniformly distributed, the air pipe passway chamber is connected with centre-driven chamber and side driving chamber respectively, and the tracheae passes through
Air pipe passway chamber is communicated with centre-driven chamber and side driving chamber；
The bionic soft multi-finger clever hand also includes motion pose detection components, and the motion pose detection components include
The permanent magnet and Hall element of mutual cooperation, the rear end of the steel wire connect a permanent magnet；Set suddenly in the finger matrix
That element placed cavity, the first steel wire channel lumens and Hall element placed cavity are communicated and in same central line；Institute
Hall element is stated in the Hall element placed cavity, the Hall element and magnet is contactless be oppositely arranged and mutually it
Between leave space.
Further, the second steel wire channel lumens and magnet placed cavity, the second steel wire passage are set in the finger matrix
Chamber connects with the first steel wire channel lumens, the first steel wire channel lumens, the second steel wire channel lumens, magnet placed cavity and Hall
Element placed cavity is communicated and in same central line；The rear end of the steel wire passes through the second steel wire channel lumens, institute
Permanent magnet is stated positioned at the magnet placed cavity, the Hall element placed cavity is located at the rear of the magnet placed cavity.
Further, the elastic body is provided with three side driving chambers and three the first steel wire channel lumens, described matrix
Be provided with three Hall element placed cavities and four air pipe passway chambers, four air pipe passway chambers respectively with centre-driven chamber and
Side driving chamber connection.
The present invention technical concept be：The motion of software multi-finger clever hand, software multi-finger clever hand are controlled with air pressure
Finger mainly made by elastomeric material with good ductility and pliability, the sensing being made with Hall element and magnet
Device feeds back the pose of finger.There are gas-powered chamber and steel wire channel lumens inside software skillful finger, gas-powered chamber is used to rush
Enter gas to produce pressure differential to control software skillful finger to bend and extend；If software skillful finger extends or bent, meeting
Magnet fixed on steel wire is caused to occur relative motion with Hall element, so as to cause magnet with respect to the magnetic field intensity of Hall element
Change, so that Hall element exports different voltages, then pass through this method and to feed back and refer to spirit bionic soft more
The pose situation of dab hand.
Currently invention addresses the feedback that current software Dextrous Hand research lacks itself pose, propose a kind of with pose feedback
The structure of the bionic soft multi-finger clever hand of function, is a kind of new exploration of soft robot research, is expected to solve current software
The problem of Dextrous Hand can not feed back itself pose situation.
Beneficial effects of the present invention are mainly manifested in：Make software Dextrous Hand people that there is good flexibility and bendability, energy
The target object of enough effective crawl different structure profiles, being capable of each hand of Real-time Feedback software Dextrous Hand while execution is acted
The pose situation of finger.
Brief description of the drawings
Fig. 1 is the elastic body structure chart of the finger of software multi-finger clever hand.
Fig. 2 is the finger body portion structure partial sectional view of software multi-finger clever hand.
Fig. 3 is the finger overall schematic of software multi-finger clever hand.
Fig. 4 is software multi-finger clever hand nature figure.
Fig. 5 is software multi-finger clever hand case of bending figure.
In figure, 1. finger elastic bodies, 2. first steel wire channel lumens, 3. centre-driven chambers, 4. side driving chambers, 5. steel wires,
6. permanent magnet, 7. Hall elements, 8. tracheaes, 9. finger matrixes, 10. air pipe passway chambers, 11. second steel wire channel lumens, 12. magnet
Placed cavity, 13. Hall element placed cavities.
Embodiment
The invention will be further described below in conjunction with the accompanying drawings.
A kind of 1~Fig. 5 of reference picture, bionic soft multi-finger clever hand with pose feedback function, the Dextrous Hand includes
Five fingers and palm, the finger include finger matrix and finger main body, the finger matrix top and the finger main body
Bottom is connected, and the finger main body includes elastic body 1, steel wire 5, steel wire channel lumens 2,3 centre-driven chambers and side driving chamber
4；The elastic body is in cylinder, and the middle part of the elastic body is provided with centre-driven chamber 3, outside the centre-driven chamber 3
Elastic body 1 a first-class circular arc compartment of terrain of circle provided with least three be in similar trapezoidal shape side driving chambers 4；Drive at the center
Dynamic chamber 3 and the upper end closed of side driving chamber 4, lower end is communicated with corresponding base pitch air pipe passway chamber；The steel wire channel lumens 2 have three
It is individual, equally spacedly between three side driving chambers 4；The steel wire 5 is located at each middle of steel wire channel lumens 2, the steel
5 upper ends of silk are fixed, and lower end connects a permanent magnet 6.
The finger matrix 9 is placed comprising steel wire channel lumens 2, magnet placed cavity 12, air pipe passway chamber 10 and Hall element
Chamber 13, described matrix 9 is cylindrical, and a centrally disposed air pipe passway chamber 10 for described matrix 9, the periphery of described matrix 9 is equal
Three air pipe passway chambers 10 of even distribution, four air pipe passway chambers 10 respectively with main center driving chamber 3 and the three of side driving chamber 4
Heart line is on same straight line, and the tracheae 8 passes through air pipe passway chamber 10 and the centre-driven chamber 3 and the phase of side driving chamber 4 of main body 1
It is logical；The Hall element placed cavity 13, magnet placed cavity 12 and the three of steel wire channel lumens 2 are communicating and same central line
On；The permanent magnet 7 is fixedly linked with steel wire 5, is not contacted between the Hall element 7 and permanent magnet 6, leaves certain space.
Further, the shape of permanent magnet 6 differ be set to it is square, can be other any shapes, be for convenience herein
More clearly represent that all parts are just set to square on figure.The second steel wire channel lumens in matrix 9 also can be without, i.e. steel wire
5 do not go deep into inside matrix 9, but permanent magnet 6 is inside matrix 9.Depending on the size of permanent magnet 6 can be according to actual conditions, with
Software can more delicately sense robot and be bent into most preferably.
Further, software skillful finger is not necessarily five, can freely be increased according to actual conditions or reduce hand
Exponential quantity, finger can interconnect combination end to end, just can so be needed to lengthen the length of finger according to practical application；Hall member
Part 7 can connect external circuitses output data, can also connect built-in signal transmitting equipment, such as bluetooth or wifi transmittings
Device, to output signal.
In the present embodiment, gas is passed through in centre-driven chamber 3 and side driving chamber 2 in elastic body 1, its air pressure is in material
In within tolerance range；Gas only is passed through to centre-driven chamber 3, soft robot axial elongation can be made；Centre-driven chamber 3 does not fill
Enter gas, three side driving chambers 2 are passed through different air pressure, and soft robot can be bent to that small side driving chamber of air pressure.If soft
Body robot is bent, and magnet 6 fixed on steel wire 5 can be caused to occur relative motion with Hall element 7, so as to cause the phase of magnet 6
Magnetic field intensity to Hall element 7 changes, so that Hall element 7 exports different voltages, then passes through this method
The finger pose situation of software Dextrous Hand can be fed back.
The scheme of the present embodiment makes software Dextrous Hand people have good flexibility and bendability, can effectively capture not
With the target object of construction profile, the pose situation of each finger of Real-time Feedback software Dextrous Hand is capable of while execution is acted.
Claims (3)
1. a kind of bionic soft multi-finger clever hand with pose feedback function, the Dextrous Hand includes five fingers and palm,
Each finger includes finger main body and finger matrix, and the rear end of the finger main body is connected with the finger matrix front end, institute
The rear end for stating finger matrix is arranged on the palm, and the finger main body includes elastic body, steel wire, the first steel wire passage
Chamber, centre-driven chamber and side driving chamber；The elastic body is provided with centre-driven in cylinder, the middle part of the elastic body
Chamber, a first-class circular arc compartment of terrain of circle of the elastic body outside the centre-driven chamber is provided with least three side driving chambers；It is described
Centre-driven chamber and the closing of side driving chamber front end, rear end is communicated with corresponding matrix air pipe passway chamber；The first steel wire passage
Chamber is equally spacedly located between side driving chamber adjacent two-by-two；The steel wire is located at each first steel wire channel lumens middle,
The steel wire front end is fixed；
Described matrix part includes matrix and air pipe passway chamber, and described matrix is cylindrical, and described matrix center and periphery are uniform
Air pipe passway chamber is distributed, the air pipe passway chamber is connected with centre-driven chamber and side driving chamber respectively, and the tracheae passes through tracheae
Channel lumens are communicated with centre-driven chamber and side driving chamber；
It is characterized in that：The bionic soft multi-finger clever hand also includes motion pose detection components, the motion pose detection
Component includes the permanent magnet and Hall element cooperated, and the rear end of the steel wire connects a permanent magnet；The finger matrix
Interior setting Hall element placed cavity, the first steel wire channel lumens and Hall element placed cavity are communicated and straight positioned at same center
On line；The Hall element is located in the Hall element placed cavity, the Hall element with magnet is contactless is oppositely arranged
And space is left each other.
2. there is the bionic soft multi-finger clever hand of pose feedback function as claimed in claim 1, it is characterised in that：The hand
Refer to and the second steel wire channel lumens and magnet placed cavity are set in matrix, the second steel wire channel lumens and the first steel wire channel lumens
Connect, the first steel wire channel lumens, the second steel wire channel lumens, magnet placed cavity and Hall element placed cavity are communicated and be located at
In same central line；The rear end of the steel wire passes through the second steel wire channel lumens, and the permanent magnet is put positioned at the magnet
Chamber is put, the Hall element placed cavity is located at the rear of the magnet placed cavity.
3. there is the bionic soft multi-finger clever hand of pose feedback function as claimed in claim 1 or 2, it is characterised in that：Institute
Elastic body is stated provided with three side driving chambers and three the first steel wire channel lumens, described matrix is put provided with three Hall elements
Chamber and four air pipe passway chambers are put, four air pipe passway chambers are connected with centre-driven chamber and side driving chamber respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710232097.2A CN106976100B (en) | 2017-04-11 | 2017-04-11 | Bionic soft multi-finger smart hand with pose feedback function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710232097.2A CN106976100B (en) | 2017-04-11 | 2017-04-11 | Bionic soft multi-finger smart hand with pose feedback function |
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| CN106976100A true CN106976100A (en) | 2017-07-25 |
| CN106976100B CN106976100B (en) | 2023-10-20 |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108466276A (en) * | 2018-01-22 | 2018-08-31 | 江苏大学 | A kind of multifreedom motion finger and preparation method thereof based on elastomer soft material |
| CN108673534A (en) * | 2018-04-20 | 2018-10-19 | 江苏大学 | A kind of software manipulator for realizing intelligent sorting using artificial synapse network system |
| CN110271020A (en) * | 2019-05-29 | 2019-09-24 | 浙江大学 | Bionic mechanical kinematic optimization method |
| CN111300459A (en) * | 2020-03-13 | 2020-06-19 | 哈尔滨工业大学 | Multi-degree-of-freedom humanoid rigid-flexible hybrid hand and manufacturing process thereof |
| CN111397773A (en) * | 2019-12-17 | 2020-07-10 | 浙江工业大学 | Flexible fingertip contact sensor and preparation method thereof |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108466276A (en) * | 2018-01-22 | 2018-08-31 | 江苏大学 | A kind of multifreedom motion finger and preparation method thereof based on elastomer soft material |
| CN108673534A (en) * | 2018-04-20 | 2018-10-19 | 江苏大学 | A kind of software manipulator for realizing intelligent sorting using artificial synapse network system |
| CN110271020A (en) * | 2019-05-29 | 2019-09-24 | 浙江大学 | Bionic mechanical kinematic optimization method |
| CN111397773A (en) * | 2019-12-17 | 2020-07-10 | 浙江工业大学 | Flexible fingertip contact sensor and preparation method thereof |
| CN111397773B (en) * | 2019-12-17 | 2021-07-30 | 浙江工业大学 | Flexible fingertip contact sensor and preparation method thereof |
| CN111300459A (en) * | 2020-03-13 | 2020-06-19 | 哈尔滨工业大学 | Multi-degree-of-freedom humanoid rigid-flexible hybrid hand and manufacturing process thereof |
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