CN107422652A - One kind driving perceives integrated clamper, control system and control method - Google Patents
One kind driving perceives integrated clamper, control system and control method Download PDFInfo
- Publication number
- CN107422652A CN107422652A CN201710400458.XA CN201710400458A CN107422652A CN 107422652 A CN107422652 A CN 107422652A CN 201710400458 A CN201710400458 A CN 201710400458A CN 107422652 A CN107422652 A CN 107422652A
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- China
- Prior art keywords
- clamper
- processor
- control system
- control
- operation object
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
- B25B11/00—Work holders not covered by any preceding group in the subclass, e.g. magnetic work holders, vacuum work holders
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to one kind driving to perceive integrated clamper, control system and control method, and controllable finger is made using ionic electroactive polymer in the first finger of clamper, receives control system instruction and produces controllable chucking power；Second finger is Micro-force sensor, and closing fixed clamp with the first assignment is perceived and transmitted by the chucking power suffered by operation object to control system by operation object, generation；Data collecting card receives the pressure signal for driving the Micro-force sensor perceived in integrated clamper to gather through operational amplifier and delivers to processor in control system；Data collecting card and processor both-way communication, the control instruction output pwm signal of data collecting card reception processing device are connected through power amplifier with controllable finger, to producing chucking power by operation object.The present invention applies application scenario, its control system such as gripping and can realize that clamper accurately clamps force tracing control in cellular micromanipulation and other small items, improves the precision, validity and security of operation.
Description
Technical field
The present invention relates to a kind of clamping device for being used for biological tissue or cellular micromanipulation, is specially that a kind of driving perceives one
Body clamper, control system and control method.
Background technology
Ionic electroactive polymer clamper is usually to refer to the clamper that forms by two, wherein, at least one refer to be from
Subtype electroactive polymer, such clamper could have the function of actively capturing object.However, traditional ionic electroactive
Polymer clamper only has the function of actively capturing object, does not possess the work(of chucking power size during measurement operation object
Can, that is to say, that ionic electroactive polymer clamper operating system is open cycle system, can not realize closed loop feedback function.With
This simultaneously, ionic electroactive polymer clamper is mainly used in biological tissue or cellular micromanipulation, the clamping of small items are consolidated
Determine application scenario, open cycle system can not ensure accurate fixed operation, perceive chucking power, so as to ensure the essence in operating process
Degree, may cause operation failure, be restricted its application field.
The content of the invention
Clamping device for being used for biological tissue or cellular micromanipulation in the prior art can not ensure accurate fixed operation,
The deficiencies of chucking power may cause operation failure is perceived, the problem to be solved in the present invention is to provide one kind being capable of sense operation process
In chucking power form it into the driving of closed loop feedback control and perceive integrated clamper, control system and control method.
In order to solve the above technical problems, the technical solution adopted by the present invention is：
One kind driving of the invention perceives integrated clamper, has two to refer to structure, wherein the first finger is living using ionic electricity
Property polymer be made controllable finger, receive control system instruction and produce controllable chucking power；Second finger is Micro-force sensor, is referred to first
Fixed clamp is coordinated to be perceived and transmitted by the chucking power suffered by operation object to control system by operation object, generation.
The ionic electroactive polymer is strip, and strip one end is control terminal, and the end both sides are respectively equipped with copper
The both positive and negative polarity of electrode, the both positive and negative polarity of copper electrode are connected to control system electric signal；The strip other end is bare terminal end.
The Micro-force sensor is strip, and strip one end is signal leading-out terminal, is connected to the data acquisition of control system
Card, the strip other end is bare terminal end.
A kind of driving of the invention perceives integrated clamper control system, including data collecting card, power amplifier, computing
Amplifier and processor, wherein data collecting card receive micro- power in the integrated clamper of driving perception through operational amplifier and passed
The pressure signal of sensor collection delivers to processor；Data collecting card carries out both-way communication with processor and is connected, data acquisition clamping
Control instruction output pwm signal to power amplifier, power take-off and the driving of power amplifier for receiving processor perceives one
Controllable finger connection in body clamper, to producing chucking power by operation object.
Also there is control panel, it is connected with processor input, and control signal is manually entered by control panel.
A kind of driving of the invention perceives integrated clamper control method, comprises the following steps：
Clamper is installed on micromotion platform, adjustment micromotion platform positioning；
Start, processor send control instruction, and data collecting card receives above-mentioned instruction and produces pwm signal, driving clamping
The controllable finger flexural deformation of device；
Meanwhile Micro-force sensor perceives and is received and driven through operational amplifier by the chucking power of operation object, data collecting card
The pressure signal for perceiving the collection of the Micro-force sensor in integrated clamper delivers to processor；
Processor judges whether chucking power reaches desired value suffered by operation object；
If reaching desired value, judge whether to reach the expected time operated by operation object；
If reaching the expected time operated by operation object, processor sends a command to data collecting card and produces PWM
Signal, ionic electroactive polymer is set to be returned to initial pose.
If being not reaching to the expected time operated by operation object, go to processor and judge the folder suffered by operation object
Whether holding force reaches desired value step.
If the chucking power suffered by operation object is not reaching to desired value, pwm signal dutycycle is adjusted, goes to processor
Control instruction is sent, data collecting card receives above-mentioned instruction and produces pwm signal, drives the controllable finger flexural deformation of clamper to walk
Suddenly.
Pwm signal dutycycle is adjusted, control can be also manually entered by control panel by control software adjust automatically
Signal is realized.
The invention has the advantages that and advantage：
1. ionic electroactive polymer flooding innervation of the present invention know integrated clamper can apply cellular micromanipulation with
And other small items application scenario, its control system such as grip and can realize that clamper accurately clamps force tracking control
System, improve the precision, validity and security of operation.
2. the present invention has the ionic electroactive polymer clamper of driving perception integrated function being capable of sense operation
During chucking power, corresponding control system and control method in addition, form it into closed-loop feedback control system, realize accurate
Grasping manipulation task, greatly extend the application of ionic electroactive polymer clamper.
Brief description of the drawings
Fig. 1 is that ionic electroactive polymer flooding innervation of the present invention knows integrated holder structure schematic diagram；
Fig. 2 is the structural representation that ionic electroactive polymer flooding innervation of the present invention knows integrated clamper control system
Figure；
Fig. 3 is that ionic electroactive polymer flooding innervation of the present invention knows integrated clamper control program flow chart.
1 is the first finger, and 2 be the second finger, and 3 be that 4 be copper electrode, and 5 be pwm signal wiring, and 6 be signal wire by operation object
Pin, 7 be fixed support.
Embodiment
With reference to Figure of description, the present invention is further elaborated.
As shown in figure 1, a kind of drive of the present invention perceives integrated clamper, have two to refer to structure, wherein first refers to 1 use
Controllable finger is made in ionic electroactive polymer, receives control system instruction and produces controllable chucking power；Second refers to 2 senses for micro- power
Device, refer to 1 with first and coordinate, it is clamping, fixed by operation object 3, produce perceive by the chucking power suffered by operation object 3 transmit to
Control system；Ionic electroactive polymer is strip, and strip one end is control terminal, and the end both sides are respectively equipped with copper electrode
Positive and negative electrode, the both positive and negative polarity of copper electrode is connected to control system electric signal；The strip other end is bare terminal end；Micro-force sensor is
Strip, strip one end are signal wire pin 6, are connected to the data collecting card of control system, and the strip other end is bare terminal end,
The bare terminal end of the first finger 1 is coordinated to realize gripping operation.
First control terminal for referring to 1 is installed on a fixed support 7.
In the present invention, first refers to 1 is made of ionic electroactive polymer, is acted not only as finger body, is played
Fixed clamp is by the effect of operation thing 3, additionally it is possible to produces controllable chucking power.Second finger is Micro-force sensor, can not only be made
For finger body, fixed clamp effect is played, additionally it is possible to for perceiving by the chucking power suffered by operation object.
Ionic electroactive polymer (Electroactive Polymer, EAP) be can under DC Electric Field,
Changed by material internal structure and the novel intelligent height of various forms mechanical response such as stretch, bend, tighten or expand to produce
Molecular material.High tenacity that the present invention is showed when it copies biological muscles using electroactive polymer, high transmission should
Become and inherent cushioning ability.
First in the present invention, which refers to 1, uses homemade ion-exchange polymer metal composite (the Ionic Polymer in laboratory
Metal Composite, IPMC), in the present embodiment, IPMC amberplexes are Nafion membrane, and its surface passes through electronation
Metal platinum is coated with, its important technological parameters has：Sheet resistance：3~10Ohm；Length × width x thickness：35mm×8mm×0.2mm.
The second finger in the present invention is Micro-force sensor, and the product of point sensor Co., Ltd, this reality are bent using the U.S.
Apply in example, the bend sensor is two-way type bend sensor, and its important technological parameters has：Length × width x thickness：25.4mm×
5.08mm×0.08mm；Bending resistance changes：5k~100kOhm；The resistance of its straight state：5kOhm.
As shown in Fig. 2 a kind of driving of the present invention perceives integrated clamper control system, including data collecting card, power
Amplifier, operational amplifier and processor, wherein data collecting card receive driving through operational amplifier and perceive integration clamping
The pressure signal of Micro-force sensor collection in device delivers to processor；Data collecting card carries out both-way communication with processor and is connected,
The control instruction output pwm signal of data collecting card reception processing device is to power amplifier, the power take-off of power amplifier
Connected with the controllable finger in the driving integrated clamper of perception, to producing chucking power by operation object.
The present invention is also provided with control panel, and it is connected with processor input, and control is manually entered by control panel
Signal.Control panel can be hardware entities or touch screen, input desired value by control panel, adjust pwm signal
Dutycycle, it can also be automatically performed by control software.
As shown in figure 3, a kind of driving of the present invention perceives integrated clamper control method, comprise the following steps：
Clamper is installed on micromotion platform, adjustment micromotion platform positioning；
Start, processor send control instruction, and data collecting card receives above-mentioned instruction and produces pwm signal, driving clamping
The controllable finger flexural deformation of device；
Meanwhile Micro-force sensor perceives and is received and driven through operational amplifier by the chucking power of operation object, data collecting card
The pressure signal for perceiving the collection of the Micro-force sensor in integrated clamper delivers to processor；
Processor judges whether chucking power reaches desired value suffered by operation object；
If reaching desired value, judge whether to reach the expected time operated by operation object；
If reaching the expected time operated by operation object, processor sends a command to data collecting card and produces PWM
Signal, ionic electroactive polymer is set to be returned to initial pose, once driving perceives integrated clamping process and terminated；
If being not reaching to the expected time operated by operation object, go to processor and judge the folder suffered by operation object
Whether holding force reaches desired value step；
If the chucking power suffered by operation object is not reaching to desired value, pwm signal dutycycle is adjusted, goes to processor
Control instruction is sent, data collecting card receives above-mentioned instruction and produces pwm signal, drives the controllable finger flexural deformation of clamper to walk
Suddenly.
If chucking power exceedes desired value suffered by operation object, also the phase can be realized by changing pwm signal dutycycle
The adjustment of prestige value.
Under normal circumstances, desired value (including chucking power and time) is empirical value, uses initial stage in system, is especially debugging
When, it is necessary to constantly adjust desired value, find the pressure or time range for being adapted to operation.It is to adjust to adjust pwm signal dutycycle
Whole desired value size, to adapt to being actually needed for operation, for biological tissue or cellular micromanipulation, the clamping of small items
When fixed, the characteristics of appropriately sized desired value can more embody hommization.
Present invention driving perceives integrated clamper, be respectively adopted ionic electroactive polymer and Micro-force sensor as
Two fingers, chucking power that can be during sense operation, corresponding control system and control method, it is anti-to form it into closed loop in addition
Control system is presented, accurate grasping manipulation task is realized, greatly extends the application of ionic electroactive polymer clamper.
Claims (9)
1. one kind driving perceives integrated clamper, it is characterised in that：Refer to structure with two, wherein first refers to using ionic electricity
Controllable finger is made in living polymer, receives control system instruction and produces controllable chucking power；Second finger is Micro-force sensor, with first
Assignment closes fixed clamp and is perceived and transmitted by the chucking power suffered by operation object to control system by operation object, generation.
2. driving according to claim 1 perceives integrated clamper, it is characterised in that：The ionic electroactive polymerization
Thing is strip, and strip one end is control terminal, and the end both sides are respectively equipped with the both positive and negative polarity of copper electrode, and the both positive and negative polarity of copper electrode connects
There is control system electric signal；The strip other end is bare terminal end.
3. the integrated clamper of driving according to claim 1, it is characterised in that：The Micro-force sensor is strip,
Strip one end is signal wire pin, is connected to the data collecting card of control system, and the strip other end is bare terminal end.
4. one kind driving perceives integrated clamper control system, it is characterised in that：Including data collecting card, power amplifier,
Operational amplifier and processor, wherein data collecting card receive micro- in the integrated clamper of driving perception through operational amplifier
The pressure signal of force snesor collection delivers to processor；Data collecting card carries out both-way communication with processor and is connected, data acquisition
Control instruction output pwm signal to power amplifier, power take-off and the driving of power amplifier that processor is received in clamping is felt
The controllable finger connection in integrated clamper is known, to producing chucking power by operation object.
5. driving according to claim 4 perceives integrated clamper control system, it is characterised in that：Also there is chain of command
Plate, it is connected with processor input, and control signal is manually entered by control panel.
6. one kind driving perceives integrated clamper control method, it is characterised in that comprises the following steps：
Clamper is installed on micromotion platform, adjustment micromotion platform positioning；
Start, processor send control instruction, and data collecting card receives above-mentioned instruction and produces pwm signal, drives clamper
Controllable finger flexural deformation；
Meanwhile Micro-force sensor perceives and is received driving by the chucking power of operation object, data collecting card through operational amplifier and perceived
The pressure signal of Micro-force sensor collection in integrated clamper delivers to processor；
Processor judges whether chucking power reaches desired value suffered by operation object；
If reaching desired value, judge whether to reach the expected time operated by operation object；
If reaching the expected time operated by operation object, processor sends a command to data collecting card and produces pwm signal,
Ionic electroactive polymer is set to be returned to initial pose.
7. driving according to claim 6 perceives integrated clamper control method, it is characterised in that：If it is not reaching to
The expected time operated by operation object, then go to processor and judge whether the chucking power suffered by operation object reaches desired value step
Suddenly.
8. driving according to claim 6 perceives integrated clamper control method, it is characterised in that：If by operation thing
Chucking power suffered by body is not reaching to desired value, then adjusts pwm signal dutycycle, goes to processor and sends control instruction, data are adopted
Truck receives above-mentioned instruction and produces pwm signal, drives the controllable finger flexural deformation step of clamper.
9. driving according to claim 8 perceives integrated clamper control method, it is characterised in that：Adjust pwm signal
Dutycycle, control signal realization can be also manually entered by control panel by control software adjust automatically.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710400458.XA CN107422652A (en) | 2017-05-31 | 2017-05-31 | One kind driving perceives integrated clamper, control system and control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710400458.XA CN107422652A (en) | 2017-05-31 | 2017-05-31 | One kind driving perceives integrated clamper, control system and control method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107422652A true CN107422652A (en) | 2017-12-01 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710400458.XA Pending CN107422652A (en) | 2017-05-31 | 2017-05-31 | One kind driving perceives integrated clamper, control system and control method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112025310A (en) * | 2020-07-24 | 2020-12-04 | 西安理工大学 | Upset type sheet spare intelligence reconfigurable riveting clamp |
Citations (5)
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|---|---|---|---|---|
| CN1444758A (en) * | 2000-05-24 | 2003-09-24 | 英默森公司 | Haptic devices using electroactive polymers |
| EP1503272A1 (en) * | 2003-07-28 | 2005-02-02 | Motorola, Inc. | A portable device |
| US20060212069A1 (en) * | 2005-03-17 | 2006-09-21 | Ethicon Endo-Surgery, Inc. | Surgical stapling instrument having load sensing control circuitry |
| CN103442859A (en) * | 2011-03-17 | 2013-12-11 | 哈里公司 | Robotic grasping device with multi-force sensing at base of fingers |
| CN105813498A (en) * | 2013-12-12 | 2016-07-27 | 皇家飞利浦有限公司 | Toothbrush with variable touch selection system and method of operation thereof |
-
2017
- 2017-05-31 CN CN201710400458.XA patent/CN107422652A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1444758A (en) * | 2000-05-24 | 2003-09-24 | 英默森公司 | Haptic devices using electroactive polymers |
| EP1503272A1 (en) * | 2003-07-28 | 2005-02-02 | Motorola, Inc. | A portable device |
| US20060212069A1 (en) * | 2005-03-17 | 2006-09-21 | Ethicon Endo-Surgery, Inc. | Surgical stapling instrument having load sensing control circuitry |
| CN103442859A (en) * | 2011-03-17 | 2013-12-11 | 哈里公司 | Robotic grasping device with multi-force sensing at base of fingers |
| CN105813498A (en) * | 2013-12-12 | 2016-07-27 | 皇家飞利浦有限公司 | Toothbrush with variable touch selection system and method of operation thereof |
Non-Patent Citations (1)
| Title |
|---|
| 申加伟: "基于IPMC一体化手爪***的设计与开发", 《中国优秀硕士学位论文全文数据库（电子期刊）工程科技I辑》 * |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112025310A (en) * | 2020-07-24 | 2020-12-04 | 西安理工大学 | Upset type sheet spare intelligence reconfigurable riveting clamp |
| CN112025310B (en) * | 2020-07-24 | 2021-10-22 | 西安理工大学 | Upset type sheet spare intelligence reconfigurable riveting clamp |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20171201 |
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| WD01 | Invention patent application deemed withdrawn after publication |