CN108177156A - A kind of variation rigidity software hand of structure decoupling driving - Google Patents
A kind of variation rigidity software hand of structure decoupling driving Download PDFInfo
- Publication number
- CN108177156A CN108177156A CN201711448741.6A CN201711448741A CN108177156A CN 108177156 A CN108177156 A CN 108177156A CN 201711448741 A CN201711448741 A CN 201711448741A CN 108177156 A CN108177156 A CN 108177156A
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- sma
- alloys
- finger
- several
- pedestal
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Classifications
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- 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
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
-
- 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
- B25J9/1075—Programme-controlled manipulators characterised by positioning means for manipulator elements with muscles or tendons
-
- 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
- B25J9/1085—Programme-controlled manipulators characterised by positioning means for manipulator elements positioning by means of shape-memory materials
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Rheumatology (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to intelligent robot technology fields, refer specifically to a kind of variation rigidity software hand of structure decoupling driving；Including palm pedestal, three short fingers of a length two are separately installed on three electric interfaces of the palm pedestal front end, the finger includes spaced finger tip, several finger joints and referring to root successively, finger tip, several finger joints and refers to and is connected with skeleton structure between root；The finger is equipped with class myoarchitecture and musculature, and skeleton structure, class myoarchitecture and musculature are SMA alloy (marmem) material；The present invention is rational in infrastructure, finger sections is driven to act by SMA alloy, the temperature for changing marmem by electric current simultaneously controls its Young's modulus, the variable rigidity of finger is realized to obtain more accurate grasping movement, with simpler structure and without mechanical fatigue and wear problem, manipulator and the risk in people's interactive process can also be reduced, so as to provide a kind of feasibility structural model of software hand development.
Description
Technical field
The present invention relates to intelligent robot technology fields, refer specifically to a kind of variation rigidity software hand of structure decoupling driving.
Background technology
Conventional robot due to rigidity can not change and type of drive limit to the problems such as, it is caused not to be suitable for a variety of fields
It closes, more because abrasion causes its service life short, is applicable in small crawl object range, structure bulky and manufacture difficulty height, energy consumption, consumptive material
Deng his obvious shortcoming etc., and software manipulator, it is the manipulator using soft material manufacture.With traditional manipulator or gripping apparatus phase
Than the ability that it operates tiny or frangible object is stronger.Software hand makes full use of and plays various flexible materials and includes rubber, gathers
The natural compliance such as object, intellectual material, multifunctional material and its non-linear, viscoplasticity and lagging characteristics etc. are closed in software hand
Potential " mechanical intelligence " effect in movement and control, so as to reduce the complexity of control, realizes high flexibility and good interaction
Property, so it is higher and higher for the use demand of software manipulator.With the development in the fields such as material science, by material science and
Engineer application is combined, the high quality novel active intellectual material developed, and is more flexible compact software hand ontology, flexibility
The research of driver and sensor lays the foundation.For existing software hand now, auto-excitation type coupling software hand, coupling are short of money
The software hand of anti-two kinds of structures of formula software hand can interact in the variation of driving force and rigidity, be unfavorable for controlling software hand, make
The scope of application for obtaining software hand seriously reduces.Therefore, the prior art needs to improve.
Invention content
In view of the defects and deficiencies of the prior art, the present invention intends to provide a kind of rational in infrastructure, pass through control respectively
The Young's modulus of SMA alloy processed changes finger and controls the deformation of SMA alloy, realizes the characteristic of driving decoupling, can obtain more
It is accurately controlled the variation rigidity software hand of the structure decoupling driving of crawl effect.
To achieve these goals, the present invention uses following technical scheme：
A kind of variation rigidity software hand of structure decoupling driving of the present invention, including palm pedestal, the palm pedestal
Three short fingers of a length two are separately installed on three electric interfaces of front end, the finger includes spaced finger successively
Sharp, several finger joint and refer to root, finger tip, several finger joints and refer to and be connected with skeleton structure between root；The finger is equipped with class
Myoarchitecture and musculature, the end of skeleton structure, class myoarchitecture and musculature by refer to root respectively with electric interfaces
Connection, skeleton structure, class myoarchitecture and musculature are SMA alloy material.
According to above scheme, the skeleton structure is SMA-1 alloys, and SMA-1 alloys are successively with finger tip, several finger joints and referring to
The top of root is fixedly connected, and the end of SMA-1 alloys is electrically connected with electric interfaces.
According to above scheme, the class myoarchitecture is several SMA-2 alloys, and several SMA-2 alloys are spaced and right
Title is arranged on the both sides of SMA-1 alloys, and SMA-2 alloys successively movably through several finger joints, distinguish by the both ends of SMA-2 alloys
It is fixedly connected, and the end of SMA-2 alloys is electrically connected with electric interfaces with finger tip and finger root.
According to above scheme, the musculature includes several SMA-3 alloys, and several SMA-3 alloys are spaced and phase
It is mutually set in parallel in the lower section of several SMA-2 alloys, SMA-3 alloys are successively movably through several finger joints, SMA-3 alloys
Both ends respectively with finger tip and refer to root be fixedly connected, and the end of SMA-3 alloys is electrically connected with electric interfaces.
According to above scheme, the finger tip includes upper cover, pedestal and fingerstall, and upper cover is fixed by screws with pedestal,
The front end that fingerstall is fixed on upper cover and pedestal forms enforcement division, and the front end of the SMA-1 alloys and SMA-2 alloys is fixed on upper cover
On, SMA-3 alloys pass through pedestal on through-hole form it is parallel and interval bifilar circuit, and the both ends of SMA-3 alloys respectively with
Electric interfaces are electrically connected.
According to above scheme, three electric interfaces are distributed in the front end of palm pedestal, palm pedestal in triangle disposition
Rear end is equipped with external interface.
The present invention has the beneficial effect that：The present invention is rational in infrastructure, finger sections is driven to act by SMA alloy, led to simultaneously
The temperature that overcurrent changes marmem controls its Young's modulus, realizes that the variable rigidity of finger is more accurately grabbed to obtain
Action is taken, there is simpler structure and without mechanical fatigue and wear problem, manipulator and people's interactive process can also be reduced
In risk, so as to provide a kind of feasibility structural model of software hand development.
Description of the drawings
Fig. 1 is the overall structure diagram of the present invention；
Fig. 2 is A portions enlarged structure schematic diagram in Fig. 1.
In figure：
1st, palm pedestal；2nd, finger tip；3rd, refer to root；4th, finger joint；5th, SMA-1 alloys；6th, SMA-2 alloys；7th, SMA-3 alloys；
11st, electric interfaces；21st, upper cover；22nd, pedestal；23rd, fingerstall.
Specific embodiment
Technical scheme of the present invention is illustrated with embodiment below in conjunction with the accompanying drawings.
As shown in Figure 1, a kind of variation rigidity software hand of structure decoupling driving of the present invention, including palm pedestal 1, institute
State and three short fingers of a length two be separately installed on three electric interfaces 11 of 1 front end of palm pedestal, the finger include according to
The finger tip 2 of minor tick setting and refers to root 3 at several finger joints 4, finger tip 2, several finger joints 4 and refers to and is connected with skeleton knot between root 3
Structure；The finger is equipped with class myoarchitecture and musculature, and the end of skeleton structure, class myoarchitecture and musculature passes through
Refer to root 3 to connect with electric interfaces 11 respectively, skeleton structure, class myoarchitecture and musculature are SMA alloy material；Described three
A finger is separately mounted to form crawl structure on palm pedestal 1, and skeleton structure is used to support finger and obtains the larger knot of rigidity
Structure supports, by its rigidity of the electrical heating characteristic changing of SMA alloy material to obtain accurate deformation, musculature and class muscle
Finger joint, finger tip complete grasping movement in structure driving skeleton structure；Two shorter fingers are longer for balancing grasp force
Finger to provide the grasp force of bigger, so as to ensure crawl during stationarity.
The skeleton structure be SMA-1 alloys 5, SMA-1 alloys 5 successively with finger tip 2, several finger joints 4 and the top for referring to root 3
Be fixedly connected, and the end of SMA-1 alloys 5 is electrically connected with electric interfaces 11, the SMA-1 alloys 5 as finger tip 2 and several
The support of finger joint 4, to meet the structural strength of finger, changes class myoarchitecture with maximum rigidity by controlling temperature
The deformation of Young's modulus and musculature, so as to change the rigidity of finger entirety, so as to obtain accurate action control.
The class myoarchitecture is several SMA-2 alloys 6, and several SMA-2 alloys 6 are spaced and are symmetricly set on SMA-
The both sides of 1 alloy 5, SMA-2 alloys 6 successively movably through several finger joints 4, the both ends of SMA-2 alloys 6 respectively with finger tip 2
With refer to root 3 be fixedly connected, and the end of SMA-2 alloys 6 is electrically connected with electric interfaces 11, the SMA-2 alloys 6 play series connection,
The effect of finger tip 2 and several finger joints 4 is driven, so as to which under the driving of musculature, SMA-2 alloys 6 deform to control on finger
The co-operating of each component, the heat radiation that spaced and symmetrically arranged several SMA-2 alloys 6 can be reduced between alloy are done
It disturbs, improves the accuracy of integrated model operation.
The musculature includes several SMA-3 alloys 7, and several SMA-3 alloys 7 are spaced and set in parallel to each other
In the lower section of several SMA-2 alloys 6, SMA-3 alloys 7 are successively movably through several finger joints 4, the both ends point of SMA-3 alloys 7
It is not fixedly connected, and the end of SMA-3 alloys 7 is electrically connected with electric interfaces 11 with finger tip 2 and finger root 3, the SMA-3 alloys 7
For the driving part of finger, make its deformation output power by the way that electric current is controlled to carry out heating to SMA-3 alloys 7, drive several fingers
Section 4 and finger tip 2 simulate grasping movement.
The finger tip 2 includes upper cover 21, pedestal 22 and fingerstall 23, and upper cover 21 is fixed by screws with pedestal 22, refers to
The front end that set 23 is fixed on upper cover 21 and pedestal 22 forms enforcement division, and the front end of the SMA-1 alloys 5 and SMA-2 alloys 6 is fixed
In upper cover 21, SMA-3 alloys 7 pass through the through-hole on pedestal 22 to form parallel and interval bifilar circuit, and SMA-3 alloys 7
Both ends be electrically connected respectively with electric interfaces 11.
Three electric interfaces 11 are distributed in the front end of palm pedestal 1 in triangle disposition, and 1 rear end of palm pedestal is equipped with outer
Portion's interface.
The above is only the better embodiment of the present invention, therefore all constructions according to described in present patent application range,
The equivalent change or modification that feature and principle are done, is included in the range of present patent application.
Claims (6)
1. a kind of variation rigidity software hand of structure decoupling driving, including palm pedestal (1), it is characterised in that：The palm pedestal
(1) three short fingers of a length two are separately installed on three electric interfaces (11) of front end, the finger includes being spaced successively
Finger tip (2), several finger joint (4) and the finger root (3) of setting, are connected between finger tip (2), several finger joint (4) and finger root (3)
Skeleton structure；The finger is equipped with class myoarchitecture and musculature, the end of skeleton structure, class myoarchitecture and musculature
End is connect by referring to root (3) with electric interfaces (11) respectively, and skeleton structure, class myoarchitecture and musculature are SMA alloy
Material.
2. the variation rigidity software hand of structure decoupling driving according to claim 1, it is characterised in that：The skeleton structure is
SMA-1 alloys (5), top of the SMA-1 alloys (5) successively with finger tip (2), several finger joints (4) and finger root (3) are fixedly connected, and
The end of SMA-1 alloys (5) is electrically connected with electric interfaces (11).
3. the variation rigidity software hand of structure decoupling driving according to claim 2, it is characterised in that：The class myoarchitecture
For several SMA-2 alloys (6), several SMA-2 alloys (6) are spaced and are symmetricly set on the both sides of SMA-1 alloys (5),
SMA-2 alloys (6) are successively movably through several finger joints (4), and the both ends of SMA-2 alloys (6) are respectively with finger tip (2) and referring to root
(3) it is fixedly connected, and the end of SMA-2 alloys (6) is electrically connected with electric interfaces (11).
4. the variation rigidity software hand of structure decoupling driving according to claim 2, it is characterised in that：The musculature packet
Several SMA-3 alloys (7) are included, several SMA-3 alloys (7) are spaced and are arranged on several SMA-2 alloys (6) in parallel to each other
Lower section, SMA-3 alloys (7) successively movably through several finger joints (4), the both ends of SMA-3 alloys (7) respectively with finger tip
(2) it is fixedly connected, and the end of SMA-3 alloys (7) is electrically connected with electric interfaces (11) with finger root (3).
5. the variation rigidity software hand driven according to any structure decouplings of claim 1-4, it is characterised in that：The finger tip
(2) including upper cover (21), pedestal (22) and fingerstall (23), upper cover (21) is fixed by screws with pedestal (22), fingerstall
(23) front end for being fixed on upper cover (21) and pedestal (22) forms enforcement division, the SMA-1 alloys (5) and SMA-2 alloys (6)
Front end is fixed in upper cover (21), and SMA-3 alloys (7) form parallel and bifilar time interval across the through-hole on pedestal (22)
Road, and the both ends of SMA-3 alloys (7) are electrically connected respectively with electric interfaces (11).
6. the variation rigidity software hand of structure decoupling driving according to claim 1, it is characterised in that：Described three electrically connect
Mouth (11) is distributed in the front end of palm pedestal (1) in triangle disposition, and palm pedestal (1) rear end is equipped with external interface.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711448741.6A CN108177156A (en) | 2017-12-27 | 2017-12-27 | A kind of variation rigidity software hand of structure decoupling driving |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711448741.6A CN108177156A (en) | 2017-12-27 | 2017-12-27 | A kind of variation rigidity software hand of structure decoupling driving |
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| Publication Number | Publication Date |
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| CN108177156A true CN108177156A (en) | 2018-06-19 |
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| CN201711448741.6A Pending CN108177156A (en) | 2017-12-27 | 2017-12-27 | A kind of variation rigidity software hand of structure decoupling driving |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108858269A (en) * | 2018-07-04 | 2018-11-23 | 天津大学 | A kind of finger of variation rigidity three soft robot |
| CN109172265A (en) * | 2018-08-31 | 2019-01-11 | 京东方科技集团股份有限公司 | Finger exoskeleton robot |
| CN109877858A (en) * | 2019-03-11 | 2019-06-14 | 武汉理工大学 | A kind of variation rigidity software manipulator |
| CN110625634A (en) * | 2019-10-24 | 2019-12-31 | 清华大学 | Line-driven variable-rigidity multifunctional soft finger |
| CN110640776A (en) * | 2019-11-04 | 2020-01-03 | 深圳蓝胖子机器人有限公司 | Dexterous hand finger and multi-finger dexterous hand |
| CN110811840A (en) * | 2019-11-22 | 2020-02-21 | 山东大学 | Variable-rigidity wrist structure of surgical robot and surgical mechanical arm |
| CN110900652A (en) * | 2019-11-27 | 2020-03-24 | 天津大学 | Continuum variable-rigidity mechanical arm based on sponge |
| CN111673781A (en) * | 2020-06-10 | 2020-09-18 | 哈尔滨工业大学 | Variable-rigidity humanoid robot paw |
| CN111685964A (en) * | 2019-03-25 | 2020-09-22 | 东北林业大学 | Hand rehabilitation device driven by shape memory alloy wires |
| CN111930239A (en) * | 2020-08-28 | 2020-11-13 | 安徽鸿程光电有限公司 | Remote control device based on screen |
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Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108858269A (en) * | 2018-07-04 | 2018-11-23 | 天津大学 | A kind of finger of variation rigidity three soft robot |
| CN108858269B (en) * | 2018-07-04 | 2021-05-25 | 天津大学 | Variable-rigidity three-finger soft robot |
| CN109172265A (en) * | 2018-08-31 | 2019-01-11 | 京东方科技集团股份有限公司 | Finger exoskeleton robot |
| US11123254B2 (en) | 2018-08-31 | 2021-09-21 | Beijing Boe Optoelectronics Technology Co., Ltd. | Finger exoskeleton robot |
| CN109877858A (en) * | 2019-03-11 | 2019-06-14 | 武汉理工大学 | A kind of variation rigidity software manipulator |
| CN109877858B (en) * | 2019-03-11 | 2022-03-11 | 武汉理工大学 | Rigidity-variable soft manipulator |
| CN111685964A (en) * | 2019-03-25 | 2020-09-22 | 东北林业大学 | Hand rehabilitation device driven by shape memory alloy wires |
| CN110625634A (en) * | 2019-10-24 | 2019-12-31 | 清华大学 | Line-driven variable-rigidity multifunctional soft finger |
| CN110640776A (en) * | 2019-11-04 | 2020-01-03 | 深圳蓝胖子机器人有限公司 | Dexterous hand finger and multi-finger dexterous hand |
| CN110640776B (en) * | 2019-11-04 | 2024-03-29 | 深圳蓝胖子机器智能有限公司 | Dexterous hand finger and multi-finger dexterous hand |
| CN110811840B (en) * | 2019-11-22 | 2020-11-17 | 山东大学 | Variable-rigidity wrist structure of surgical robot and surgical mechanical arm |
| CN110811840A (en) * | 2019-11-22 | 2020-02-21 | 山东大学 | Variable-rigidity wrist structure of surgical robot and surgical mechanical arm |
| CN110900652A (en) * | 2019-11-27 | 2020-03-24 | 天津大学 | Continuum variable-rigidity mechanical arm based on sponge |
| CN111673781A (en) * | 2020-06-10 | 2020-09-18 | 哈尔滨工业大学 | Variable-rigidity humanoid robot paw |
| CN111673781B (en) * | 2020-06-10 | 2022-06-03 | 哈尔滨工业大学 | Variable-rigidity humanoid robot paw |
| CN111930239A (en) * | 2020-08-28 | 2020-11-13 | 安徽鸿程光电有限公司 | Remote control device based on screen |
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Application publication date: 20180619 |
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