CN112757338A - Under-actuated bionic manipulator - Google Patents
Under-actuated bionic manipulator Download PDFInfo
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- CN112757338A CN112757338A CN202110067995.3A CN202110067995A CN112757338A CN 112757338 A CN112757338 A CN 112757338A CN 202110067995 A CN202110067995 A CN 202110067995A CN 112757338 A CN112757338 A CN 112757338A
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- Prior art keywords
- joint
- finger
- connecting rod
- palm
- hinged
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted for a procedure covered by only one of the other main groups of this subclass
- B23K37/04—Auxiliary devices or processes, not specially adapted for a procedure covered by only one of the other main groups of this subclass for holding or positioning work
-
- 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
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
- B25J15/0266—Gripping heads and other end effectors servo-actuated comprising parallel grippers actuated by articulated links
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Manipulator (AREA)
Abstract
本发明提供一种欠驱动仿生机械手，用于在焊接过程中夹取工件，包括：手掌以及安装于手掌上的三根手指，其中，三根手指的结构相同，分别为安装于手掌一侧的长边中间位置的拇指以及安装于手掌另一侧的长边上的中指与食指，且拇指、中指以及食指呈等腰三角形状分布于手掌上，每根手指分为4节，分别为与手掌连接的手掌连接关节、与手掌连接节铰接的指根关节、与指根关节铰接的指中关节以及与指中关节铰接的指尖关节，指根关节以及指中关节均为仿偶蹄目动物根骨结构。本发明欠驱动仿生机械手，结构简单、抓取可靠，对目标物的包络性、自适应性良好，还极大地提高了鲁棒性。
The invention provides an underactuated bionic manipulator for gripping workpieces during welding, comprising: a palm and three fingers mounted on the palm, wherein the three fingers have the same structure and are respectively mounted on the long sides of one side of the palm The thumb in the middle position and the middle finger and index finger installed on the long side of the other side of the palm, and the thumb, middle finger and index finger are distributed on the palm in an isosceles triangle shape, each finger is divided into 4 sections, which are connected to the palm. The palm joint joint, the phalangeal joint articulated with the palm joint joint, the middle phalangeal joint articulated with the phalangeal joint, and the fingertip joint articulated with the middle phalangeal joint. . The underactuated bionic manipulator of the present invention has the advantages of simple structure, reliable grasping, good envelope and adaptability to the target, and also greatly improves the robustness.
Description
Technical Field
The invention belongs to the field of under-actuated bionic machinery, and particularly relates to an under-actuated bionic manipulator.
Background
Most of the research of the underactuated manipulator focuses on the way of removing the actuation of the rope or tendon, but does not consider the practicability of the structure from the bionic angle.
The maintenance and assembly of outer space facilities all need to use welding technology, and in the microgravity environment of space, a section of sharp welding burr is often left behind after the welding. When an astronaut grasps a welded object, the burr is likely to pierce the astronaut's clothing, and the life safety of the astronaut is threatened. Therefore, a device capable of solving the above problems is required.
Disclosure of Invention
The present invention has been made to solve the above-described problems, and an object of the present invention is to provide an under-actuated bionic manipulator.
The invention provides an under-actuated bionic manipulator which is used for grabbing workpieces in a welding process and has the characteristics that: the palm and install three fingers on the palm, wherein, the structure of three fingers is the same, be respectively for installing thumb and the middle finger and the forefinger on the long limit of the long limit intermediate position of palm one side and installing in the long limit of palm opposite side, and thumb, middle finger and forefinger are isosceles triangle shape and distribute in the palm of the hand, every finger divide into 4 sections, be respectively the palm joint of connecting with the palm, with palm joint articulated finger root joint, with finger root joint articulated finger joint and with finger joint articulated finger tip joint in the finger, joint in finger root joint and the finger is imitative artiodactyla animal root bone structure.
The under-actuated bionic manipulator provided by the invention can also have the following characteristics: wherein, have fingertip joint pin point, indicate root joint pin point and connecting rod pin point on the joint in the finger, and the contained angle between the line of fingertip joint pin point and indicate root joint pin point and the line of indicate root joint pin point and connecting rod pin point is 40.
The under-actuated bionic manipulator provided by the invention can also have the following characteristics: wherein, have joint pin joint, palm in the finger on the root joint of the finger and connect joint pin joint and connecting rod pin joint, and the line of joint pin joint and palm in the finger and connect the line of joint pin joint and connecting rod pin joint is the contained angle between 60 with the palm.
The under-actuated bionic manipulator provided by the invention can also have the following characteristics: wherein, the palm joint is articulated with first connecting rod, articulates on the finger root joint to have two second connecting rods, articulates on the joint in the finger to have two third connecting rods.
The under-actuated bionic manipulator provided by the invention can also have the following characteristics: two fourth connecting rods and a fifth connecting rod are arranged between the first connecting rod and the two second connecting rods, one ends of the two fourth connecting rods are hinged to two outer sides of the middle position of the first connecting rod respectively, the other ends of the two fourth connecting rods are hinged to the joint of the finger root joint and the two second connecting rods respectively, one end of the fifth connecting rod is hinged to the top end of the first connecting rod, the other end of the fifth connecting rod is hinged to the top ends of the two second connecting rods, and the fifth connecting rod is a linear spring.
The under-actuated bionic manipulator provided by the invention can also have the following characteristics: two sixth connecting rods and a seventh connecting rod are arranged between the two second connecting rods and the two third connecting rods, one ends of the two sixth connecting rods are hinged to one fourth of the second connecting rods respectively, the other ends of the two sixth connecting rods are hinged to the joint of the knuckle in the finger and the two third connecting rods respectively, one end of the seventh connecting rod is hinged to the top end of the second connecting rod, the other end of the seventh connecting rod is hinged to the top ends of the two third connecting rods, and the seventh connecting rod is a linear spring.
The under-actuated bionic manipulator provided by the invention can also have the following characteristics: an eighth connecting rod is arranged between the third connecting rods and the fingertip joints, one end of the eighth connecting rod is hinged to the top ends of the two third connecting rods, the other end of the eighth connecting rod is hinged to the fingertip joints, and the eighth connecting rod is a linear spring.
Action and Effect of the invention
According to the under-actuated bionic manipulator, the three fingers are distributed in an isosceles triangle shape, so that the balance of the gripping force is ensured; each finger has 4 joints, so that the finger can rotate; because the root joints of the fingers and the joints in the fingers are both of the artiodactyla-imitating animal root bone structure, stable and effective grabbing force can be realized.
Therefore, the under-actuated bionic manipulator is simple in structure, reliable in grabbing, good in enveloping performance and adaptability to a target object, and greatly improved in robustness, can firmly envelop a workpiece during welding of the object, can avoid the danger that welding burrs pierce an aerospace garment during welding of an astronaut, further improves the safety guarantee of the astronaut during welding, and can protect a glove during operation when working in an extreme ground environment.
Drawings
FIG. 1 is a schematic perspective view of an under-actuated bionic manipulator in an embodiment of the invention;
FIG. 2 is a schematic diagram of a finger of an under-actuated bionic manipulator in an embodiment of the invention;
FIG. 3 is a schematic diagram of a finger of an under-actuated bionic manipulator in an embodiment of the invention, wherein the finger comprises a linear spring;
FIG. 4 is a schematic diagram of a finger of an under-actuated bionic manipulator in an embodiment of the invention, wherein the finger comprises a linear spring;
FIG. 5 is a schematic diagram of a finger root joint of an under-actuated bionic manipulator in an embodiment of the invention;
FIG. 6 is a schematic view of a knuckle in a finger of an under-actuated bionic manipulator in an embodiment of the invention;
FIG. 7 is a schematic diagram of an enveloping process of an under-actuated bionic manipulator gripping a cylindrical workpiece according to an embodiment of the invention;
FIG. 8 is a schematic diagram of an enveloping process of an under-actuated bionic manipulator for gripping a plate-shaped workpiece in the embodiment of the invention.
Detailed Description
In order to make the technical means and functions of the present invention easy to understand, the present invention is specifically described below with reference to the embodiments and the accompanying drawings.
Example (b):
fig. 1 is a schematic perspective view of an under-actuated bionic manipulator in an embodiment of the invention.
As shown in fig. 1, an under-actuated bionic manipulator 100 of the present embodiment is used for grabbing a workpiece in a welding process, and includes: palm 1 and three fingers mounted on palm 1.
Fig. 2 is a schematic finger diagram of an under-actuated bionic manipulator in an embodiment of the invention.
As shown in fig. 1 and 2, the three fingers have the same structure, namely, a thumb 2 mounted in the middle of the long side of one side of the palm 1 and a middle finger 3 and an index finger 4 mounted on the long side of the other side of the palm 1, and the thumb 2, the middle finger 3 and the index finger 4 are distributed on the palm 1 in an isosceles triangle shape.
Fig. 3 is a schematic diagram of a finger of an under-actuated bionic manipulator in an embodiment of the invention, wherein the finger of the under-actuated bionic manipulator in the embodiment of the invention comprises a linear spring, fig. 4 is a schematic diagram of the finger of the under-actuated bionic manipulator in the embodiment of the invention, and each small circle in fig. 4 represents a hinge point.
As shown in fig. 3 and fig. 4, each finger is divided into 4 segments, namely a palm connecting joint 5 connected with the palm 1, a finger root joint 6 hinged with the palm connecting joint 5, a middle finger joint 7 hinged with the finger root joint 6 and a fingertip joint 8 hinged with the middle finger joint 7.
FIG. 5 is a schematic diagram of a finger root joint of an under-actuated bionic manipulator in an embodiment of the invention
As shown in fig. 5, the knuckle 6 is a faujasite animal root structure, and has a knuckle 601 in the finger, a knuckle 602 in the palm, and a link hinge 603, and the angle between the line connecting the knuckle 601 in the finger and the knuckle 602 in the palm and the link hinge 603 is 60 °.
Fig. 6 is a schematic view of a knuckle in a finger of an under-actuated bionic manipulator in an embodiment of the invention.
As shown in fig. 6, the knuckle 7 in the finger is an artiodactyla root bone-like structure, and has a fingertip knuckle hinge point 701, a finger root knuckle hinge point 702, and a link hinge point 703, and an angle between a line connecting the fingertip knuckle hinge point 701 and the finger root knuckle hinge point 702 and a line connecting the finger root knuckle hinge point 702 and the link hinge point 703 is 40 °.
In addition, the fingertip joint 8, the middle finger joint 7 and the root finger joint 6 respectively have a rotational degree of freedom, so that the enveloping requirement of the manipulator on grasping a workpiece is met, and the structural complexity of the bionic manipulator is reduced.
In this embodiment, the palm connecting joint 5 is hinged to a first connecting rod 9, the finger root joint 6 is hinged to two second connecting rods 10, and the finger middle joint 7 is hinged to two third connecting rods 11.
Furthermore, two fourth connecting rods 12 and a fifth connecting rod 13 are arranged between the first connecting rod 9 and the two second connecting rods 10, one end of each of the two fourth connecting rods 12 is hinged to two outer sides of the middle position of the first connecting rod 9, the other end of each of the two fourth connecting rods 12 is hinged to the joint of the finger-root joint 6 and the two second connecting rods 10, one end of the fifth connecting rod 13 is hinged to the top end of the first connecting rod 9, the other end of the fifth connecting rod 13 is hinged to the top ends of the two second connecting rods 10, and the fifth connecting rod 13 is a linear spring.
Furthermore, two sixth connecting rods 14 and a seventh connecting rod 15 are arranged between the two second connecting rods 10 and the two third connecting rods 11, one ends of the two sixth connecting rods 14 are respectively hinged to the one fourth of the second connecting rods 10 from bottom to top, the other ends of the two sixth connecting rods 14 are respectively hinged to the connecting positions of the knuckle 7 and the two third connecting rods 11, one end of the seventh connecting rod 15 is hinged to the top end of the second connecting rod 7, the other end of the seventh connecting rod 15 is hinged to the top ends of the two third connecting rods 11, and the seventh connecting rod 15 is a linear spring.
Furthermore, an eighth connecting rod 16 is arranged between the third connecting rods 11 and the fingertip joints 8, one end of the eighth connecting rod 16 is hinged to the top ends of the two third connecting rods 11, the other end of the eighth connecting rod 16 is hinged to the fingertip joints 8, and the eighth connecting rod 16 is a linear spring.
Fig. 7 is a schematic diagram of an enveloping process of an under-actuated bionic manipulator for gripping a cylindrical workpiece in an embodiment of the invention, and fig. 8 is a schematic diagram of an enveloping process of an under-actuated bionic manipulator for gripping a plate-shaped workpiece in an embodiment of the invention.
In addition, in this embodiment, each connecting rod is driven by the motor, and when needing to snatch the work piece, opens motor drive each connecting rod work, and then the connecting rod drives the finger motion to snatch the work piece. As shown in fig. 7 and 8, when grasping workpieces of different shapes, the respective joints of the three fingers are rotated by different angles to stably grasp the workpieces. Meanwhile, in order to improve the shape adaptability of the fingers to the grabbed target object, the fifth connecting rod 13, the seventh connecting rod 15 and the eighth connecting rod 16 are all linear springs, so that the overall structure is simple, the rigidity is good, and the enveloping performance and the adaptability to the grabbed object are strong.
Effects and effects of the embodiments
According to the under-actuated bionic manipulator related to the embodiment, the three fingers are distributed in an isosceles triangle shape, so that the balance of the gripping force is ensured; each finger has 4 joints, so that the finger can rotate; because the root joints of the fingers and the joints in the fingers are both of the artiodactyla-imitating animal root bone structure, stable and effective grabbing force can be realized.
According to the under-actuated bionic manipulator related to the embodiment, the connecting rods are hinged, and the connecting rods and the joints are also hinged, so that the under-actuated bionic manipulator can flexibly rotate; because the fifth connecting rod, the seventh connecting rod and the eighth connecting rod are all linear springs, the rigidity is good, and the flexibility link greatly improves the enveloping property, the self-adaptability and the robustness of the under-actuated bionic manipulator.
Therefore, the under-actuated bionic manipulator of this embodiment, simple structure, snatch reliably, envelope nature, the adaptivity to the target object are good, still greatly improved the robustness, in addition, can firmly envelop the work piece when welding article, can also avoid the dangerous emergence that the astronaut punctures the space suit of welding burr when carrying out welding work, and then for improving the safeguard of astronaut in welding process, and to the extreme environment during operation in ground, also can protect the gloves when the operation.
The above embodiments are preferred examples of the present invention, and are not intended to limit the scope of the present invention.
Claims (7)
1. The utility model provides an under-actuated bionic manipulator for snatch the work piece in welding process, its characterized in that includes: a palm and three fingers mounted on the palm,
wherein the three fingers have the same structure and are respectively a thumb arranged in the middle of the long edge of one side of the palm and a middle finger and an index finger arranged on the long edge of the other side of the palm, and the thumb, the middle finger and the index finger are distributed on the palm in an isosceles triangle shape,
each finger is divided into 4 sections which are respectively a palm connecting joint connected with the palm, a finger root joint hinged with the palm connecting joint, a middle finger joint hinged with the finger root joint and a fingertip joint hinged with the middle finger joint,
the root joints of the fingers and the joints in the fingers are all artiodactyla animal root bone structures.
2. The under-actuated bionic manipulator according to claim 1, characterized in that:
wherein, the finger middle joint is provided with a finger tip joint point, a finger root joint point and a connecting rod joint point, and the connecting line of the finger tip joint point and the finger root joint point and the connecting line of the finger root joint point and the connecting rod joint point form an included angle of 40 degrees.
3. The under-actuated bionic manipulator according to claim 1, characterized in that:
the finger root joint is provided with a finger middle joint hinge point, a palm connecting joint hinge point and a connecting rod hinge point, and an included angle between a connecting line of the finger middle joint hinge point and the palm connecting joint hinge point and a connecting line of the palm connecting joint hinge point and the connecting rod hinge point is 60 degrees.
4. The under-actuated bionic manipulator according to claim 1, characterized in that:
the palm connecting joint is hinged with a first connecting rod, the finger root joint is hinged with two second connecting rods, and the middle finger joint is hinged with two third connecting rods.
5. The under-actuated bionic manipulator according to claim 4, characterized in that:
wherein two fourth connecting rods and one fifth connecting rod are arranged between the first connecting rod and the two second connecting rods,
one end of each of the two fourth connecting rods is hinged to the two outer sides of the middle position of the first connecting rod, the other end of each of the two fourth connecting rods is hinged to the joint of the finger root joint and the two second connecting rods,
one end of the fifth connecting rod is hinged to the top end of the first connecting rod, the other end of the fifth connecting rod is hinged to the top ends of the two second connecting rods,
the fifth connecting rod is a linear spring.
6. The under-actuated bionic manipulator according to claim 4, characterized in that:
wherein two sixth connecting rods and one seventh connecting rod are arranged between the two second connecting rods and the two third connecting rods,
one ends of the two sixth connecting rods are respectively hinged at one quarter of the second connecting rod, the other ends of the two sixth connecting rods are respectively hinged at the joint of the knuckle in the finger and the two third connecting rods,
one end of the seventh connecting rod is hinged to the top ends of the second connecting rods, the other end of the seventh connecting rod is hinged to the top ends of the two third connecting rods,
the seventh connecting rod is a linear spring.
7. The under-actuated bionic manipulator according to claim 4, characterized in that:
wherein an eighth connecting rod is arranged between the third connecting rod and the interphalangeal joint,
one end of the eighth connecting rod is hinged at the top ends of the two third connecting rods, the other end of the eighth connecting rod is hinged on the interphalangeal joint,
the eighth link is a linear spring.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110067995.3A CN112757338A (en) | 2021-01-19 | 2021-01-19 | Under-actuated bionic manipulator |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110067995.3A CN112757338A (en) | 2021-01-19 | 2021-01-19 | Under-actuated bionic manipulator |
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| CN112757338A true CN112757338A (en) | 2021-05-07 |
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| CN202110067995.3A Pending CN112757338A (en) | 2021-01-19 | 2021-01-19 | Under-actuated bionic manipulator |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114714385A (en) * | 2022-04-21 | 2022-07-08 | 西安交通大学 | Mechanical gripper based on five-rod mechanism and under-actuated form |
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2021
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114714385A (en) * | 2022-04-21 | 2022-07-08 | 西安交通大学 | Mechanical gripper based on five-rod mechanism and under-actuated form |
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