CN114043512A - Continuum grabbing robot with hidden tail-end gripper and control method thereof - Google Patents
Continuum grabbing robot with hidden tail-end gripper and control method thereof Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
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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
- B25J15/02—Gripping heads and other end effectors servo-actuated
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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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Abstract
本发明公开了一种末端抓手可隐藏的连续体抓取机器人及其控制方法。本发明包括：末端柔性抓手、连续体操纵器、柔性臂、驱动台、驱动控制箱以及上位机；根据物体的大小，分为两种方式抓取物体，对于尺寸较小的物体采用末端柔性抓手捏取，对于尺寸较大的物体采用连续体操纵器卷取，末端柔性抓手捏取和连续体操纵器形成互补优势；本发明的机器人能够在任意部位产生形变，使其能够柔顺的适应狭长的非结构化操作环境；机器人的驱动电机全部置于被保护的基部，无易损元件的主干能够进入危险环境作业；实现了轻量化和小型化设计；不含刚性元件且所有运动支链上均无刚性运动副，灵活、柔顺及安全无害的特点；加工、装配及扩展简单方便。
The invention discloses a continuum grasping robot with a hidden end grasper and a control method thereof. The invention includes: a terminal flexible gripper, a continuum manipulator, a flexible arm, a driving table, a driving control box and a host computer; according to the size of the object, it is divided into two ways to grasp the object, and the terminal flexible terminal is used for objects with a smaller size. The gripper is used for pinching, and the continuum manipulator is used for the coiling of large-sized objects, and the end flexible gripper and the continuum manipulator form complementary advantages; the robot of the present invention can generate deformation in any part, so that it can be compliant. Adapt to the long and narrow unstructured operating environment; the drive motors of the robot are all placed on the protected base, and the trunk without vulnerable components can enter the dangerous environment for operation; realize the lightweight and miniaturized design; no rigid components and all motion supports There is no rigid motion pair on the chain, which is flexible, supple, safe and harmless; processing, assembly and expansion are simple and convenient.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a continuum grabbing robot with a hidden tail-end gripper and a control method thereof.
Background
The classic "pick and place" strategy of robots is generally achieved by end-mounted parallel claw grips, but the shape and size of the gripped object is limited by the grips, especially in obstructed spaces.
The main body of the continuum robot does not comprise a rigid connecting rod and a rotating joint, and the continuum robot is a novel bionic robot which is bent into a smooth continuous curve by virtue of a continuous framework. Compared with the traditional 'rigid' robot, the continuum robot can deform at any position, has the characteristics of high dexterity, good safety, strong unstructured environment adaptability and capability of operating objects with different sizes and shapes, and can be lighter and smaller than the traditional robot in structural design, thereby being a good supplement to the application scene of the traditional articulated robot. Compared with a soft robot with shape memory polymer and conductive polymer as main materials, the continuum robot has higher load capacity and stronger controllability. The continuum robot is an ideal choice for the grabbing task which can be completed only by traversing a narrow obstacle space.
The design and analysis of the grasping of the continuum robot has made an important progress, and these studies can be divided into three types: (1) winding and grabbing. Such as Bionic Handling assistance and Bionic Motion Robot and cellular pneumatic grid Robot, designed by fishers corporation through the inspirations of elephant nose and octopus; they have good adaptability, can easily realize the grabbing and moving of fragile objects or irregular-shaped objects, which is difficult for the traditional rigid robot; however, due to the limitation of the bending curvature, the gripping of small-sized objects with respect to themselves is difficult to achieve with the above-described robot. (2) And the gripper is matched with the end effector for gripping. In addition to the body being able to perform a wrap gripping operation as an actuator, a continuum robot may also grip objects by cooperating with an end effector as in a conventional robot. Gunn et al add linear motor driven claws at the end of tendon driven robots for gripping small size objects, but the rigid element forming the end claws and their driving not only increase the load pressure but also limit the operational flexibility of the robot in unstructured spaces. The Jessica assembles a flexible clamping jaw at the tail end of the concentric tube type continuum robot for the intranasal basis cranium operation, and inserts a clamping jaw driving wire into the innermost tube of the concentric tube manipulator, so that the lightweight design is realized; however, a concentric tube continuous arm with only a guiding function does not enable the gripping of objects, the set of operational objectives of which is also limited by the end jaws. (3) And (4) multi-finger cooperative grabbing. The robot simulates the operation of hands to grab objects through the cooperation of multiple fingers, such as: the hydraulic soft robot claw of the national biological development office can be flexibly captured and detected in deep sea by controlling the internal pressure of the hydraulic soft robot claw; its many fingers exist at the robot end, are unfavorable for miniaturization and integrated design, have restricted its application in narrow and small unstructured space.
Disclosure of Invention
In order to realize the flexibility, the universality and the light weight of the grabbing robot, the invention provides a continuum grabbing robot with a hidden tail-end gripper and a control method thereof.
One object of the present invention is to provide a continuum grasping robot with hidden end grippers.
The continuum grabbing robot with the hidden terminal gripper comprises: the tail end flexible gripper, the continuum manipulator, the flexible arm, the driving table, the driving control box and the upper computer; the tail end flexible gripper, the continuum manipulator and the flexible arm are sequentially connected into a whole, and the tail end flexible gripper and the continuum manipulator are respectively connected to the driving table; the driving platform is connected to the driving control box through a cable; the drive control box is connected to the upper computer through a cable;
the flexible tongs in end includes: the elastic claw finger, the elastic claw palm, the claw finger driving wire and the claw finger decoupling sleeve; the elastic claw finger comprises two groups of elastic pieces, each group of elastic pieces is in a symmetrical shape formed by a super-elastic metal piece and comprises a U-shaped bottom, finger arms and finger ends which are connected into a whole, two tail ends of the U-shaped bottom are respectively connected with the finger arms, the finger arms and the tail ends of the U-shaped bottom are provided with inclination angles of 90-170 degrees, the tail ends of the finger arms are connected with the finger ends, inward included angles are formed between the finger ends and the finger arms, and the included angles are 30-150 degrees; the elastic claw palm is a bendable cylindrical body, the central shaft of the cylindrical body is along the z axis, two mutually perpendicular limiting holes which penetrate through the side wall and pass through the central shaft are formed in the cylindrical body, the axes of the limiting holes are respectively parallel to the x axis and the y axis, and the z axis has a height difference; each group of elastic pieces in the elastic claw finger corresponds to one limiting hole respectively, one end of each elastic piece penetrates through the corresponding limiting hole, the finger arms and the finger ends of the elastic pieces are exposed out of the tail ends of the elastic claw palms, and the U-shaped bottom is positioned in the limiting holes, so that the elastic claw finger is installed on the elastic claw palms through the U-shaped bottom, the two groups of elastic pieces are orthogonally arranged, the U-shaped bottoms of the two groups of elastic claw fingers are in clearance fit with the two limiting holes in the elastic claw palms, namely the elastic claw fingers and the elastic claw palms can relatively rotate around the axial direction of the limiting holes, and the self-adaptive capacity of the elastic claw finger for grabbing targets with different shapes is improved; the bottom end of the elastic claw palm is connected with a claw finger driving wire which is connected to the driving platform; a claw-finger decoupling sleeve is coated outside the claw-finger driving wire, the claw-finger decoupling sleeve is a concentric sleeve in clearance fit with the driving wire, and the inner diameter of the claw-finger decoupling sleeve is smaller than the outer diameter of the elastic claw palm so as to realize mechanical limiting;
the continuum manipulator comprises: the flexible framework, the N-level driving unit and the soft shell are arranged on the flexible framework; the flexible framework comprises a coating layer and a spiral supporting spring, the spiral supporting spring is hollow inside, the coating layer is coated outside the spiral supporting spring, so that the flexible framework with the hollow inside is formed, bending and turnover movement can be realized, the axial direction cannot be stretched and compressed, and the central shaft is positioned on the z axis; the tail end of the spiral supporting spring is funnel-shaped; n is an integer more than or equal to 2; the elastic claw palm is positioned at the tail end in the spiral supporting spring, the claw-finger decoupling sleeve penetrates through the inside of the spiral supporting spring, and the tail end of the claw-finger decoupling sleeve and the tail end of the spiral supporting spring have a height difference which is not less than the sum of the lengths of the elastic claw palm and the elastic claw finger when the elastic claw palm and the elastic claw finger are closed, so that the tail end of the claw-finger decoupling sleeve is provided with the height difference required by the elastic claw finger to retract into the spiral supporting spring;
each stage of the driving unit includes: a distal wire spool, a plurality of intermediate wire spools, a base wire spool, a continuum manipulator drive wire, and a continuum manipulator de-coupling sleeve; the tail end wire guiding disc, the plurality of middle wire guiding discs and the base wire guiding disc are respectively annular discs which are parallel to the xy plane and have the same shape, the annular discs are sequentially sleeved outside the flexible framework corresponding to the stage of driving unit from the tail end to the bottom end, and the inner walls of the annular discs are fixedly connected with the outer wall of the flexible framework; three centrosymmetric wire holes and three centrosymmetric arc decoupling sleeve wire passing holes are formed in the corresponding positions of each middle wire disc and each base wire disc; the tail end of each continuous body manipulator driving wire is fixed on the bottom surface of the tail end wire coil, then sequentially penetrates through corresponding wire holes of each intermediate wire coil and the base wire coil and penetrates out of the bottom surface of the base wire coil; the part of the driving wire of the continuum manipulator, which penetrates out of the basic wire coil of the level, is externally wrapped with a decoupling sleeve of the continuum manipulator, and the tail ends of the decoupling sleeves of the three continuum manipulators are fixed on the bottom surface of the basic wire coil of the level; three continuous body manipulator decoupling sleeves of the previous stage sequentially pass through the arc decoupling sleeve wire passing holes of the later stages and penetrate out of the bottom surface of the base wire coil of the last stage; the bottom end of the claw-finger decoupling sleeve extends out of the bottom surface of the base wire coil of the last-stage driving unit;
the multi-stage driving units are sequentially sleeved outside the flexible framework in series from the tail end to the bottom end, and a tail end wire coil of the rear stage driving unit and a base wire coil of the front stage driving unit are the same wire coil; the wire guide hole of the next-stage driving unit is staggered with the wire guide hole of the previous-stage driving unit by an angle of 5-115 degrees; the claw-finger decoupling sleeves and the continuous body manipulator decoupling sleeves of all stages of driving units are combined after penetrating through the lower surface of the base wire coil of the last stage of driving unit; the soft shell is sleeved outside the tail end wire coil, the plurality of middle wire coils and the base wire coil, and the inner wall of the soft shell is fixedly connected with the outer edges of the tail end wire coil, the plurality of middle wire coils and the base wire coil to form the outer surface of the continuum manipulator; the flexible arm is a flexible pipe with a hollow interior and is made of flexible materials; the flexible arm is sleeved outside the closed claw-finger decoupling sleeve and the 3N continuum manipulator decoupling sleeves;
the driving table comprises an upper supporting plate, a lower supporting plate, a side wall, a branching support, a motor fixing frame, a linear sleeve, a stepped shaft, a linear motor, a claw-finger force sensor, a continuum manipulator force sensor and N groups of linear push rods; the upper supporting plate and the lower supporting plate which are positioned on the horizontal plane are opposite and fixedly connected through a side wall, and the upper surface and the lower surface of the upper supporting plate are respectively provided with a branching bracket and a motor fixing frame; the tail end of the flexible arm is fixedly connected with the upper surface of the branching support, and the claw-finger decoupling sleeves and the three continuum manipulator decoupling sleeves are separated after penetrating through the branching support; a linear sleeve is fixed on the upper supporting plate, the linear sleeve is a rigid conduit with a hollow interior, the bottom end of the claw-finger decoupling sleeve is fixedly connected with the tail end of the linear sleeve, the claw-finger driving wire extends into the linear sleeve and is connected to the tail end of the stepped shaft, and the tail end of the stepped shaft is positioned in the linear sleeve; the bottom end of the stepped shaft is connected to the linear motor, and a claw finger force sensor is arranged between the bottom end of the stepped shaft and the linear motor; the linear motor is placed in the motor fixing frame and moves along the z axis; the upper supporting plate is provided with N groups of through holes corresponding to the N-level driving units, and the upper surface of the lower supporting plate is provided with N groups of linear push rods; corresponding to each stage of driving unit, each group of through holes comprises three through holes, and each group of linear push rods comprises three linear push rods; the bottom ends of the three continuum manipulator decoupling sleeves of each stage of driving unit are fixedly connected to the upper surface of the upper supporting plate corresponding to the corresponding through holes respectively, and the bottom ends of the three continuum manipulator driving wires of each stage of driving unit penetrate through the corresponding through holes and are connected to the corresponding linear push rods; a continuum manipulator force sensor is arranged between each continuum manipulator drive line and the corresponding linear push rod;
the drive control box comprises a motor driver, a push rod driver and a power supply; the power supply is respectively connected to the motor driver and the push rod driver and provides working voltage; the linear motor of the driving platform is connected to the motor driver through a cable; the push rod driver comprises N groups of push rod drivers corresponding to the N groups of linear push rods, each group of push rod drivers comprises three push rod drivers, and each linear push rod is connected to the corresponding push rod driver through a cable; the motor driver and each push rod driver are respectively connected to an upper computer;
according to the size of object, divide into two kinds of modes and snatch the object, adopt terminal flexible tongs to pinch to the less object of size, adopt the continuum manipulator to batch to the great object of size, terminal flexible tongs is pinched and is formed complementary advantage with the continuum manipulator:
pinching small-sized objects: 1) before the pinching operation: the continuum manipulator is in an undeformed linear state, and the elastic claw fingers are in an undeformed open state; 2) and (3) posture adjustment process: the continuum manipulator moving the terminal flexible gripper from a current position to around a location where the object is located, with the finger end of the collet fingers located around the object and the finger arm covering one surface of the object; the upper computer generates motion control curves of 3N linear push rods corresponding to an N-level driving unit of the continuum manipulator in the posture adjustment process through Cartesian space trajectory planning of the continuum manipulator; the upper computer sends the obtained motion control curve to a drive control box, the drive control box independently drives 3N linear push rods corresponding to N-level drive units of the continuum manipulator according to the received motion control curve, each linear push rod drives a continuum manipulator drive wire fixedly connected with the linear push rod, the continuum manipulator drive wires are always in a tensioned state under the action of the drive tension of the linear push rods and the elastic restoring force of the continuum manipulator, the tail end pose of the continuum manipulator is controlled by coordinately controlling the lengths of the 3N continuum manipulator drive wires, and the tail end flexible paw is driven to reach the position for grabbing an object; 3) grabbing an object: the upper computer sends an object grabbing instruction to the driving control box, the driving control box controls the linear motor to pull the claw finger driving line through the stepped shaft to drive the elastic claw palm to move downwards along the negative direction of the z axis, so that the bottom of the elastic claw finger is driven to move towards the spiral supporting spring of the flexible framework, the finger arm of the elastic claw finger is restrained at the contact point of the inner edge at the tail end of the spiral supporting spring, and the elastic claw finger generates elastic deformation and generates closing motion; when the finger end of the elastic claw finger is contacted with an object, the closing motion of the elastic claw finger is blocked, the linear motor is continuously driven, the tension on the claw finger driving wire is gradually increased, so that the finger end of the elastic claw finger tightly grasps the surface of the object, the claw finger force sensor senses that the tension of the linear motor on the stepped shaft reaches a pinching threshold value, the linear motor enters a self-locking state, the elastic claw finger stops moving, the object is grasped in a pinching mode, and the magnitude of the pinching force of the elastic claw finger on the object is positively correlated with the magnitude of the pinching threshold value; 4) moving the object: the flexible gripper keeps pinching the object, and the continuum manipulator moves the flexible gripper at the tail end to a release position of the object; the upper computer generates motion control curves of 3N linear push rods corresponding to the N-level driving unit of the continuum manipulator in the process again through the Cartesian space trajectory planning of the continuum manipulator; the obtained motion control curve is sent to a driving control box, the driving control box respectively and independently drives 3N linear push rods corresponding to N-level driving units of the continuum manipulator according to the received motion control curve, each linear push rod drives a continuum manipulator driving wire fixedly connected with the linear push rod, the continuum manipulator driving wires are always in a tensioned state under the action of the driving tension of the linear push rods and the elastic restoring force of the continuum manipulator, and the tail end of the continuum manipulator is controlled to move a tail end flexible gripper pinching an object to a position releasing the object by coordinately controlling the lengths of the 3N continuum manipulator driving wires; then 3N linear push rods corresponding to the N-stage driving unit of the continuum manipulator enter a self-locking state, and the continuum manipulator stops moving; 5) releasing the object: after the elastically deformed elastic claw fingers are contacted with the inner edge of the tail end of the spiral supporting spring, the elastic claw fingers have an outward movement trend under the action of restoring force, so that the elastic claw fingers can finish an opening action under very small thrust; the upper computer sends an object releasing instruction to the driving control box, the driving control box controls the linear motor to push the claw finger driving wire to drive upwards along the positive direction of the z axis through the stepped shaft, and the elastic claw fingers are opened under the action of elastic restoring force and return to the initial opened state to release the object; after a limiting shaft shoulder of the stepped shaft is contacted with the bottom end of the linear sleeve, the thrust on the stepped shaft is increased under the continuous pushing of the linear motor, when the claw finger force sensor senses that the thrust of the linear motor on the stepped shaft reaches a thrust threshold value, the linear motor stops driving and enters a self-locking state, and the tail end elastic claw finger returns to an initial opening state and stops moving; the flexible gripper at the tail end realizes the operation of pinching and releasing an object only by the axial motion of the claw-finger driving wire driven by the linear motor, namely the flexible gripper at the tail end adopts an underactuated mode and controls the opening and closing of four finger arms and finger ends at the tail end only by the axial motion of one claw-finger driving wire; meanwhile, the tail end of the spiral supporting spring is funnel-shaped, so that the extending operation of the elastic claw finger is smoother; the linear sleeve limits the fixed connection point of the flexible claw-finger driving wire and the rigid stepped shaft to move in the narrow linear sleeve so as to avoid the claw-finger decoupling sleeve in a non-linear state from blocking the linear movement of the rigid stepped shaft; the stepped shaft limits the upper limit of the motion of the claw finger driving wire along the positive direction of the z axis; when the robot is operated in a narrow unstructured space, the linear motor pulls the claw finger driving wire through the stepped shaft to drive the elastic claw palm to move downwards along the negative direction of the z axis, the elastic claw finger is completely retracted into the spiral supporting spring of the flexible framework, on one hand, the elastic claw finger is protected, on the other hand, the size of the grabbing robot is reduced, and the grabbing robot can more easily penetrate through a complex unstructured narrow channel;
coiling the object with larger size: 1) before the coiling operation: the continuum manipulator is in an undeformed linear state, and the elastic claw fingers are in an undeformed open state; 2) dividing N-level driving units: according to the characteristics of the grabbed object, the N-level driving units are divided into a coiling group and a control group which are connected in series, the coiling group is positioned at the tail end, the control group is positioned at the bottom end, and the coiling group comprises M1A stage driving unit, the control group including M2Stage drive unit, M1+M2To achieve a stable wound object, N, M1M of not less than 1 and coiling group1The series length of the stage driving units is not less than the minimum wrapping length of the force closure or the shape closure formed by the winding group wound on the outer surface of the object;to achieve flexible movement of the guided winding groups in Cartesian space, M2Not less than 3; 3) and (3) posture adjustment process: the upper computer controls the linear motor to pull the claw finger driving wire through the stepped shaft through the driving control box to drive the elastic claw palm to downwards drive along the negative direction of the z shaft, so that the bottom of the elastic claw finger is driven to move into the spiral supporting spring of the flexible framework, after the bottom end of the elastic claw palm is contacted with the tail end of the flexible claw decoupling sleeve, the movement of the elastic claw palm downwards along the negative direction of the z shaft is blocked, under the continuous driving of the linear motor, the tension on the claw finger driving wire is gradually increased, and after the claw finger force sensor senses that the tension of the linear motor on the stepped shaft reaches a contraction threshold value, the linear motor enters a self-locking state, and the elastic claw finger is completely retracted into the flexible framework and stops moving; then, the reeling groups are moved from the current position to the position around the position of the object through the control group, the reeling groups are positioned around the object and cover the upper surface of the object, and the upper computer generates M of the control group in the process through the Cartesian space trajectory planning of the continuum manipulator23M for stage drive unit2The motion control curve of each linear push rod; the upper computer sends the obtained motion control curve to a drive control box, and the drive control box respectively and independently drives M of the control group according to the received motion control curve23M for stage drive unit2Each linear push rod drives the continuum manipulator driving wire fixedly connected with the linear push rod, the continuum manipulator driving wire is always in a tensioned state under the action of the driving tension of the linear push rods and the elastic restoring force of the continuum manipulator, and the 3M corresponding to the control group is controlled through coordination control2Controlling the end of the steering group to move the take-up group around the position of the object, and then controlling M of the steering group23M for stage drive unit2The linear push rod enters a self-locking state, and the control group stops moving; meanwhile, the upper computer generates M of the coiling group in the process through the space trajectory planning of the joints of the continuum manipulator13M for stage drive unit1The motion control curve of each linear push rod; the upper computer sends the obtained motion control curve to a driving control box, and the driving control box independently drives the M of the coiling group according to the received motion control curve13M for stage drive unit1Each linear push rod drives the continuum manipulator driving wire fixedly connected with the linear push rod respectively, the continuum manipulator driving wire is always in a tensioned state under the action of the driving tension of the linear push rods and the elastic restoring force of the continuum manipulator, and the 3M corresponding to the coiling group is controlled in a coordinated manner1Adjusting the shape of the outer surface of a coiling group of the continuum manipulator arm according to the length of a drive line of the continuum manipulator, so that the coiling group covers the outer surface of the object; 4) grabbing an object: when the outer surface of the winding group is contacted with the object, the winding movement of the winding group is blocked, and M in the winding group13M for stage drive unit1Under the continuous driving of a linear push rod, 3M1The pulling force on the claw finger driving wire of the root continuum manipulator is gradually increased, so that the outer surface of the continuum manipulator corresponding to the coiling group tightly coils the surface of an object, and after the force sensor of the continuum manipulator senses that the pulling force on the driving wire reaches the coiling threshold value, the driving control box controls the M of the coiling group13M for stage drive unit1The linear push rods simultaneously enter a self-locking state, the coiling group stops moving, and the continuum manipulator realizes the grabbing of an object in a coiling manner; the magnitude of the object reeling force of the reeling group is positively correlated with the magnitude of the reeling threshold; 5) moving the object: the outer surface of the continuum manipulator corresponding to the winding group holds the wound object; the upper computer generates M of the control group in the process through Cartesian space trajectory planning of the continuum manipulator23M for stage drive unit2The motion control curve of each linear push rod; the upper computer sends the obtained motion control curve to a drive control box, and the drive control box respectively and independently drives M of the control group according to the received motion control curve23M for stage drive unit2Each linear push rod drives the continuum manipulator driving wire fixedly connected with the linear push rod, the continuum manipulator driving wire is always in a tensioned state under the action of the driving tension of the linear push rods and the elastic restoring force of the continuum manipulator, and the 3M corresponding to the control group is controlled through coordination control2Controlling the length of the drive line of the continuum manipulator, controlling the tail end of the control group to move the winding group wound with the object to a specified position, and then controlling M of the control group23M for stage drive unit2The linear push rod enters a self-locking state, and the operation group stops moving again; 6) releasing the object: the terminal pose of the control group is kept unchanged; the upper computer generates M of the coiling group in the process of releasing the object through the space trajectory planning of the joints of the continuum manipulator13M for stage drive unit1The motion control curve of each linear push rod; the upper computer sends the obtained motion control curve to a drive control box, and the drive control box respectively and independently drives the M of the coiling group according to the received motion control curve13M for stage drive unit1Each linear push rod drives the continuous body manipulator driving wire fixedly connected with the linear push rod, the continuous body manipulator driving wire is always in a tensioned state under the action of the driving tension of the linear push rods and the elastic restoring force of the continuous body manipulator, and 3M corresponding to the coiling group is controlled in a coordinated manner1The length of a driving wire of the continuum manipulator is used for adjusting the external surface form of the coiling group, so that the coiling group releases objects;
the flexible arm is based on the inherent passive compliance, and the flexible arm can adjust the shape of the flexible arm according to the narrow unstructured space.
The invention is suitable for a narrow unstructured space, wherein the narrow unstructured space is characterized in that obstacles are distributed in a working space, gaps among the obstacles are narrow, and the gaps are irregular in shape. Such as: industrial pipeline cleaning, post-disaster rescue, fruit picking and the like. The working space of the continuum manipulator is a curved surface swept by the continuum manipulator and a point set contained in the curved surface, so that the grabbing requirement of the continuum manipulator on irregular objects and the flexible guiding requirement in a narrow non-structural environment are met; the inherent continuity and flexibility of the flexible framework can reduce the impact force in the human-computer contact process and improve the safety of the grabbing process.
The flexible arm is made of one of flexible polyvinyl chloride (PVC), Polyurethane (PU), Polyethylene (PE), polypropylene (PP), Polyamide (PA), Polyformaldehyde (POM), acrylonitrile-butadiene-styrene copolymer (ABS), Polycarbonate (PC), polyurethane elastomer rubber (TPU) and nylon tubes. The driving wire of the continuum manipulator and the driving wire of the gripper adopt one of nickel-titanium alloy wires, galvanized wires, stainless steel wires and Teflon wires.
The cylinder material of the elastic claw palm adopts nickel-titanium alloy. The claw-finger decoupling sleeve adopts a high-carbon steel hollow solenoid.
The soft shell is made of corrugated pipe made of polyvinyl chloride (PVC).
Another object of the present invention is to provide a method for controlling a continuum gripping robot with hidden end grippers.
The control method of the continuum grabbing robot with the hidden tail-end gripper comprises the following steps of grabbing objects in two modes according to the sizes of the objects, pinching the objects with small sizes by the tail-end flexible gripper, coiling the objects with large sizes by the continuum manipulator, and forming complementary advantages between the pinching by the tail-end flexible gripper and the continuum manipulator:
(one) pinching small-sized objects:
1) before the pinching operation:
the continuum manipulator is in an undeformed linear state, and the elastic claw fingers are in an undeformed open state;
2) and (3) posture adjustment process:
the upper computer generates motion control curves of 3N linear push rods corresponding to an N-level driving unit of the continuum manipulator in the posture adjustment process through Cartesian space trajectory planning of the continuum manipulator; the upper computer sends the obtained motion control curve to a drive control box, the drive control box independently drives 3N linear push rods corresponding to N-level drive units of the continuum manipulator according to the received motion control curve, each linear push rod drives a continuum manipulator drive wire fixedly connected with the linear push rod, the continuum manipulator drive wires are always in a tensioned state under the action of the drive tension of the linear push rods and the elastic restoring force of the continuum manipulator, the tail end pose of the continuum manipulator is controlled by coordinately controlling the lengths of the 3N continuum manipulator drive wires, and the tail end flexible paw is driven to reach the position for grabbing an object; and the finger end of the elastic claw finger is positioned around the object and the finger arm covers one surface of the object;
3) grabbing an object:
the upper computer sends an object grabbing instruction to the driving control box, the driving control box controls the linear motor to pull the claw finger driving line through the stepped shaft to drive the elastic claw palm to move downwards along the negative direction of the z axis, so that the bottom of the elastic claw finger is driven to move towards the spiral supporting spring of the flexible framework, the finger arm of the elastic claw finger is restrained at the contact point of the inner edge at the tail end of the spiral supporting spring, and the elastic claw finger generates elastic deformation and generates closing motion; when the finger end of the elastic claw finger is contacted with an object, the closing motion of the elastic claw finger is blocked, the linear motor is continuously driven, the tension on the claw finger driving wire is gradually increased, so that the finger end of the elastic claw finger tightly grasps the surface of the object, the claw finger force sensor senses that the tension of the linear motor on the stepped shaft reaches a pinching threshold value, the linear motor enters a self-locking state, the elastic claw finger stops moving, and the elastic claw finger realizes the purpose of realizing
Grabbing the object by adopting a pinching mode, wherein the magnitude of the pinching force of the elastic claw fingers on the object is positively correlated with the magnitude of the pinching threshold value;
4) moving the object:
the flexible gripper at the tail end keeps pinching the object, and the continuum manipulator moves the flexible gripper at the tail end to a release position of the object; the upper computer generates motion control curves of 3N linear push rods corresponding to the N-level driving unit of the continuum manipulator in the process again through the Cartesian space trajectory planning of the continuum manipulator; the obtained motion control curve is sent to a driving control box, the driving control box respectively and independently drives 3N linear push rods corresponding to N-level driving units of the continuum manipulator according to the received motion control curve, each linear push rod drives a continuum manipulator driving wire fixedly connected with the linear push rod, the continuum manipulator driving wires are always in a tensioned state under the action of the driving tension of the linear push rods and the elastic restoring force of the continuum manipulator, and the tail end of the continuum manipulator is controlled to move a tail end flexible gripper pinching an object to a position releasing the object by coordinately controlling the lengths of the 3N continuum manipulator driving wires; then 3N linear push rods corresponding to the N-stage driving unit of the continuum manipulator enter a self-locking state, and the continuum manipulator stops moving;
5) releasing the object:
after the elastically deformed elastic claw fingers are contacted with the inner edge of the tail end of the spiral supporting spring, the elastic claw fingers have an outward movement trend under the action of restoring force, so that the elastic claw fingers can finish an opening action under very small thrust; the upper computer sends an object releasing instruction to the driving control box, the driving control box controls the linear motor to push the claw finger driving wire to drive upwards along the positive direction of the z axis through the stepped shaft, and the elastic claw fingers are opened under the action of elastic restoring force and return to the initial opened state to release the object; after a limiting shaft shoulder of the stepped shaft is contacted with the bottom end of the linear sleeve, the thrust on the stepped shaft is increased under the continuous pushing of the linear motor, when the claw finger force sensor senses that the thrust of the linear motor on the stepped shaft reaches a thrust threshold value, the linear motor stops driving and enters a self-locking state, and the tail end elastic claw finger returns to an initial opening state and stops moving; the flexible gripper at the tail end realizes the operation of pinching and releasing an object only by the axial motion of the claw-finger driving wire driven by the linear motor, namely the flexible gripper at the tail end adopts an underactuated mode and controls the opening and closing of four finger arms and finger ends at the tail end only by the axial motion of one claw-finger driving wire; meanwhile, the tail end of the spiral supporting spring is funnel-shaped, so that the extending operation of the elastic claw finger is smoother; the linear sleeve limits the fixed connection point of the flexible claw-finger driving wire and the rigid stepped shaft to move in the narrow linear sleeve so as to avoid the claw-finger decoupling sleeve in a non-linear state from blocking the linear movement of the rigid stepped shaft; the stepped shaft limits the upper limit of the motion of the claw finger driving wire along the positive direction of the z axis; when the robot is operated in a narrow unstructured space, the linear motor pulls the claw finger driving wire through the stepped shaft to drive the elastic claw palm to move downwards along the negative direction of the z axis, the elastic claw finger is completely retracted into the spiral supporting spring of the flexible framework, on one hand, the elastic claw finger is protected, on the other hand, the size of the grabbing robot is reduced, and the grabbing robot can more easily penetrate through a complex unstructured narrow channel;
(II) coiling the object with larger size:
1) before the coiling operation:
the continuum manipulator is in an undeformed linear state, and the elastic claw fingers are in an undeformed open state;
2) dividing N-level driving units:
according to the characteristics of the grabbed object, the N-level driving units are divided into a coiling group and a control group which are connected in series, the coiling group is positioned at the tail end, the control group is positioned at the bottom end, and the coiling group comprises M1A stage driving unit, the control group including M2Stage drive unit, M1+M2To achieve a stable wound object, N, M1M of not less than 1 and coiling group1The series length of the stage driving units is not less than the minimum wrapping length of the force closure or the shape closure formed by the winding group wound on the outer surface of the object; to achieve flexible movement of the guided winding groups in Cartesian space, M2≥3；
3) And (3) posture adjustment process:
the upper computer controls the linear motor to pull the claw finger driving wire through the stepped shaft through the driving control box to drive the elastic claw palm to downwards drive along the negative direction of the z shaft, so that the bottom of the elastic claw finger is driven to move into the spiral supporting spring of the flexible framework, after the bottom end of the elastic claw palm is contacted with the tail end of the flexible claw decoupling sleeve, the movement of the elastic claw palm downwards along the negative direction of the z shaft is blocked, under the continuous driving of the linear motor, the tension on the claw finger driving wire is gradually increased, and after the claw finger force sensor senses that the tension of the linear motor on the stepped shaft reaches a contraction threshold value, the linear motor enters a self-locking state, and the elastic claw finger is completely retracted into the flexible framework and stops moving; then, the reeling groups are moved from the current position to the position around the position of the object through the control group, the reeling groups are positioned around the object and cover the upper surface of the object, and the upper computer generates M of the control group in the process through the Cartesian space trajectory planning of the continuum manipulator23M for stage drive unit2The motion control curve of each linear push rod; the upper computer sends the obtained motion control curve to a drive control box, and the drive control box respectively and independently drives M of the control group according to the received motion control curve23M for stage drive unit2Each linear push rod drives the continuous body manipulator driving wire fixedly connected with the linear push rod, and the continuous body manipulator driving wire is always positioned under the action of the driving pulling force of the linear push rod and the elastic restoring force of the continuous body manipulatorUnder the tensioning state, the corresponding 3M of the control group is controlled through coordination control2Controlling the end of the steering group to move the take-up group around the position of the object, and then controlling M of the steering group23M for stage drive unit2The linear push rod enters a self-locking state, and the control group stops moving; meanwhile, the upper computer generates M of the coiling group in the process through the space trajectory planning of the joints of the continuum manipulator13M for stage drive unit1The motion control curve of each linear push rod; the upper computer sends the obtained motion control curve to a driving control box, and the driving control box independently drives the M of the coiling group according to the received motion control curve13M for stage drive unit1Each linear push rod drives the continuum manipulator driving wire fixedly connected with the linear push rod respectively, the continuum manipulator driving wire is always in a tensioned state under the action of the driving tension of the linear push rods and the elastic restoring force of the continuum manipulator, and the 3M corresponding to the coiling group is controlled in a coordinated manner1Adjusting the shape of the outer surface of a coiling group of the continuum manipulator arm according to the length of a drive line of the continuum manipulator, so that the coiling group covers the outer surface of the object;
4) grabbing an object:
when the outer surface of the winding group is contacted with the object, the winding movement of the winding group is blocked, and M in the winding group13M for stage drive unit1Under the continuous driving of a linear push rod, 3M1The pulling force on the claw finger driving wire of the root continuum manipulator is gradually increased, so that the outer surface of the continuum manipulator corresponding to the coiling group tightly coils the surface of an object, and after the force sensor of the continuum manipulator senses that the pulling force on the driving wire reaches the coiling threshold value, the driving control box controls the M of the coiling group13M for stage drive unit1The linear push rods simultaneously enter a self-locking state, the coiling group stops moving, and the continuum manipulator realizes the grabbing of an object in a coiling manner; the magnitude of the object reeling force of the reeling group is positively correlated with the magnitude of the reeling threshold;
5) moving the object:
the outer surface of the continuum manipulator corresponding to the winding group holds the wound object; upper computerGeneration of M of steering groups in the process by Cartesian space trajectory planning of a continuum manipulator23M for stage drive unit2The motion control curve of each linear push rod; the upper computer sends the obtained motion control curve to a drive control box, and the drive control box respectively and independently drives M of the control group according to the received motion control curve23M for stage drive unit2Each linear push rod drives the continuum manipulator driving wire fixedly connected with the linear push rod, the continuum manipulator driving wire is always in a tensioned state under the action of the driving tension of the linear push rods and the elastic restoring force of the continuum manipulator, and the 3M corresponding to the control group is controlled through coordination control2Controlling the length of the drive line of the continuum manipulator, controlling the tail end of the control group to move the winding group wound with the object to a specified position, and then controlling M of the control group23M for stage drive unit2The linear push rod enters a self-locking state, and the operation group stops moving again;
6) releasing the object:
the terminal pose of the control group is kept unchanged; the upper computer generates M of the coiling group in the process of releasing the object through the space trajectory planning of the joints of the continuum manipulator13M for stage drive unit1The motion control curve of each linear push rod; the upper computer sends the obtained motion control curve to a drive control box, and the drive control box respectively and independently drives the M of the coiling group according to the received motion control curve13M for stage drive unit1Each linear push rod drives the continuous body manipulator driving wire fixedly connected with the linear push rod, the continuous body manipulator driving wire is always in a tensioned state under the action of the driving tension of the linear push rods and the elastic restoring force of the continuous body manipulator, and 3M corresponding to the coiling group is controlled in a coordinated manner1The length of the drive wire of the continuum manipulator is used for adjusting the external surface form of the winding group, so that the winding group releases the object.
The invention has the advantages that:
(1) the environmental suitability is strong:
because the main body has no identified rigid element, the robot can deform at any position, so that the robot can flexibly adapt to a long and narrow unstructured operating environment; the driving motors of the robot are all arranged on the protected base, and the trunk without the vulnerable elements can enter dangerous environment operation, such as extreme environments of severe corrosion, ultrahigh temperature, strong radiation, vacuum and the like; compared with the gripper made of pneumatic soft material, the gripper has obvious advantages;
(2) the shapes and the sizes of the grabbed objects are diversified:
the continuous body manipulator can be used as an actuator to complete winding and grabbing operations, and the flexible tail end gripper can clamp objects with smaller sizes relative to the continuous body manipulator, so that the continuous body manipulator has the characteristic of strong universality on grabbing targets with different shapes and sizes;
(3) the adaptability to different grabbing positions is strong:
when the object moves, the target object can be grabbed at different point positions according to the morphological characteristics of the target object;
(4) miniaturization and lightweight design:
the robot transmits the energy from the base part to the operation tail end through the elastic claw palm, and the light weight and miniaturization design of the main part is realized;
(5) security
The robot does not contain rigid elements, and all moving branched chains have no rigid kinematic pairs, so that the continuum grabbing robot has the characteristics of flexibility, smoothness, safety and harmlessness as a whole.
(6) Modular design of drive unit
The drive unit with the modular design is simple and convenient to process, assemble and expand; each driving unit has the same external driving form, the motions of the driving units are independent and not influenced mutually, the inverse kinematics solution of the whole continuum manipulator can be obtained based on the kinematics analysis of one driving unit, and the control is easy.
Drawings
FIG. 1 is a schematic view of one embodiment of a continuum grasping robot with hidden end grippers of the present invention;
FIG. 2 is a schematic view of a distal flexible gripper of one embodiment of a continuum grasping robot with a concealable distal gripper of the present invention, wherein (a) is open and (b) is closed;
FIG. 3 is a schematic view of a continuum manipulator and flexible arms of one embodiment of a continuum grasping robot with hidden end grippers of the present invention;
fig. 4 is a schematic view of a driving stage of a continuum grasping robot in which an end gripper may be hidden according to an embodiment of the present invention, in which (a) is an overall schematic view of the driving stage, (b) is a schematic view of a claw-finger driving wire connected to a linear motor, and (c) is a schematic view of a continuum manipulator driving wire connected to a linear push rod.
Detailed Description
The invention will be further elucidated by means of specific embodiments in the following with reference to the drawing.
As shown in fig. 1, the continuum grasping robot whose end gripper can be hidden according to the present embodiment includes: the tail end flexible gripper 1, the continuum manipulator 2, the flexible arm 3, the driving table 4, the driving control box 5 and the upper computer 6; the tail end flexible gripper 1, the continuum manipulator 2 and the flexible arm 3 are sequentially connected into a whole, and the tail end flexible gripper 1 and the continuum manipulator 2 are respectively connected to the driving table 4; the driving table 4 is connected to the driving control box 5 through a cable; the drive control box 5 is connected to an upper computer 6 through a cable;
the terminal flexible grip 1 includes: the device comprises an elastic claw finger 11, an elastic claw palm 12, a claw finger driving wire 13 and a claw finger decoupling sleeve 14; the elastic claw finger 11 comprises two groups of elastic sheets, each group of elastic sheets is in a symmetrical shape formed by a super-elastic metal sheet and comprises a U-shaped bottom, finger arms and finger ends which are connected into a whole, two tail ends of the U-shaped bottom are respectively connected with the finger arms, the finger arms and the tail ends of the U-shaped bottom are provided with inclination angles, the included angles are 145 degrees, the tail ends of the finger arms are connected with the finger ends, inward included angles are formed between the finger ends and the finger arms, and the included angles are 90 degrees; the elastic claw 12 is a bendable cylindrical body, the central axis of the cylindrical body is along the z-axis, two mutually perpendicular limiting holes which penetrate through the side wall and pass through the central axis are formed in the cylindrical body, the axes of the limiting holes are respectively parallel to the x-axis and the y-axis, and the z-axis has a height difference; each group of elastic pieces in the elastic claw fingers 11 respectively corresponds to one limiting hole, one end of each elastic piece penetrates through the corresponding limiting hole 15, the finger arms and the finger ends of the elastic pieces are exposed out of the tail end of the elastic claw palm 12, and the U-shaped bottom is positioned in the limiting hole, so that the elastic claw fingers 11 are installed on the elastic claw palm 12 through the U-shaped bottom, the two groups of elastic pieces are arranged orthogonally, the U-shaped bottoms of the two groups of elastic claw fingers 11 are in clearance fit with the two limiting holes in the elastic claw palm 12, namely, the elastic claw fingers 11 and the elastic claw palm 12 can rotate relatively around the axial direction of the limiting holes, and the self-adaptive capacity of the elastic claw fingers 11 for grabbing targets with different shapes is improved; the bottom end of the elastic claw palm 12 is connected with a claw finger driving wire 13, and the claw finger driving wire 13 is connected to the driving platform 4; a claw-finger decoupling sleeve 14 is coated outside the claw-finger driving wire 13, the claw-finger decoupling sleeve 14 is a concentric sleeve in clearance fit with the driving wire, and the inner diameter of the claw-finger decoupling sleeve 14 is smaller than the outer diameter of the elastic claw leg 12 so as to realize mechanical limiting;
the continuum manipulator 2 includes: the flexible framework 21, the N-stage driving unit 27 and the soft shell; the flexible framework 21 comprises a coating layer and a spiral supporting spring, the spiral supporting spring is hollow inside, the coating layer is coated outside the spiral supporting spring, so that the flexible framework 21 with the hollow inside is formed, bending and turnover movement can be realized, the stretching and compression cannot be realized in the axial direction, and the central shaft is positioned in the z axis; the tail end of the spiral supporting spring is funnel-shaped; n is 2; the elastic claw palm 12 is positioned at the tail end in the spiral supporting spring, the claw-finger decoupling sleeve 14 penetrates through the interior of the spiral supporting spring, and the tail end of the claw-finger decoupling sleeve 14 and the tail end of the spiral supporting spring have a height difference which is not less than the length of the elastic claw finger 11 when the elastic claw finger 11 is closed, so that the tail end of the claw-finger decoupling sleeve 14 is provided with the height difference required by the elastic claw finger 11 to retract into the spiral supporting spring;
each stage of the driving unit 27 includes: a tip wire spool 22, a plurality of intermediate wire spools 23, a base wire spool 24, a continuum manipulator drive wire 25, and a continuum manipulator de-coupling sleeve 26; the tail end wire coil 22, the plurality of middle wire coils 23 and the base part wire coil 24 are respectively annular disks parallel to the xy plane and have the same shape, the annular disks are sequentially sleeved outside the flexible frameworks corresponding to the driving units from the tail end to the bottom end, and the inner walls of the disks are fixedly connected with the outer walls of the flexible frameworks; three centrosymmetric wire holes 28 and three centrosymmetric arc decoupling sleeve wire passing holes 29 are formed in the corresponding positions of each middle wire coil and the base wire coil 24; the end of each continuum manipulator drive wire 25 is secured to the underside of the end wire tray 22 and then threaded through the respective wire guides of the respective intermediate and base wire trays 24 in turn and out the underside of the base wire tray 24; a continuous body manipulator decoupling sleeve 26 is wrapped outside the part of the continuous body manipulator driving wire 25 penetrating out of the base wire coil 24 of the current stage, and the tail ends of the three continuous body manipulator decoupling sleeves 26 are fixed on the bottom surface of the base wire coil 24 of the current stage; the three continuous body manipulator decoupling sleeves 26 at the previous stage sequentially pass through the arc decoupling sleeve wire passing holes at the later stages and penetrate out of the bottom surface of the base wire coil 24 at the last stage; the bottom end of the claw-finger decoupling sleeve 14 protrudes from the bottom surface of the base wire disc 24 of the last stage drive unit;
the multi-stage driving units are sequentially sleeved outside the flexible framework in series from the tail end to the bottom end, and a tail end wire coil 22 of the rear stage driving unit and a base part wire coil 24 of the front stage driving unit are the same wire coil; the wire guide hole of the rear-stage driving unit is staggered with the wire guide hole of the front-stage driving unit by an angle of 60 degrees; the claw-finger decoupling sleeves 14 and the continuum manipulator decoupling sleeves 26 of each stage of drive unit are bundled after passing through the lower surface of the base wire disc 24 of the last stage of drive unit; the soft shell is sleeved outside the tail end wire coil 22, the plurality of middle wire coils 23 and the base wire coil 24, and the inner wall of the soft shell is fixedly connected with the outer edges of the tail end wire coil 22, the plurality of middle wire coils 23 and the base wire coil 24 to form the outer surface of the continuum manipulator 2; the flexible arm 3 is a flexible pipe with a hollow interior and is made of flexible materials; the flexible arm 3 is sleeved outside the closed claw-finger decoupling sleeves 14 and 3N continuous body manipulator decoupling sleeves 26;
the driving table 4 comprises an upper supporting plate 41, a lower supporting plate 42, a side wall 43, a branching support 44, a motor fixing frame 45, a linear sleeve 46, a stepped shaft 47, a linear motor 48, a claw-finger force sensor D1, N groups of displacement sensors D2, N groups of continuous body manipulator force sensors D3 and N groups of linear push rods 49; the upper support plate 41 and the lower support plate 42 which are positioned on the horizontal plane are opposite and fixedly connected through a side wall 43, and the upper surface and the lower surface of the upper support plate 41 are respectively provided with a branching bracket 44 and a motor fixing frame 45; the tail end of the flexible arm 3 is fixedly connected with the upper surface of the branching support 44, and the claw-finger decoupling sleeves 14 and the three continuum manipulator decoupling sleeves 26 are separated after penetrating through the branching support 44; a linear sleeve 46 is fixed on the upper support plate 41, the linear sleeve 46 is a rigid conduit with a hollow interior, the bottom end of the claw finger decoupling sleeve 14 is fixedly connected with the tail end of the linear sleeve 46, the claw finger drive wire 13 extends into the linear sleeve 46 and is connected to the tail end of a stepped shaft 47, and the tail end of the stepped shaft 47 is positioned in the linear sleeve 46; the bottom end of the stepped shaft 47 is connected to the linear motor 48, and a finger force sensor D1 is arranged between the bottom end of the stepped shaft 47 and the linear motor 48; the linear motor 48 is placed in the motor fixing frame 45, and the linear motor 48 moves along the z axis; corresponding to the N-stage driving unit, N groups of through holes are formed in the upper supporting plate 41, and N groups of linear push rods 49 are mounted on the upper surface of the lower supporting plate 42; each group of through holes includes three through holes, and each group of linear pushers 49 includes three linear pushers 49, corresponding to each stage of driving unit; the bottom ends of the decoupling sleeves of the three continuum manipulators 2 of each stage of driving unit are fixedly connected to the upper surface of the upper supporting plate 41 corresponding to the corresponding through holes respectively, and the bottom ends of the driving wires 25 of the three continuum manipulators of each stage of driving unit penetrate through the corresponding through holes and are connected to the corresponding linear push rods 49; a continuum manipulator force sensor D3 is respectively arranged between the bottom end of each continuum manipulator driving wire 25 and the corresponding linear push rod 49 to prevent the driving force of the driving wire from being too large, thereby ensuring the safety; and displacement sensors D2 are respectively arranged between the bottom ends of the three continuous body manipulator driving wires 25 and the corresponding linear push rods 49, and a displacement sensor D2 is fixed on the side wall 43 of the driving platform 4, so as to detect the axial movement distance of the continuous body manipulator driving wires 25 and restrict the movement stroke of the linear push rods 49;
the drive control box 5 comprises a motor driver, a push rod driver and a power supply; the power supply is respectively connected to the motor driver and the push rod driver and provides working voltage; the linear motor 48 of the drive stage 4 is connected to the motor driver by a cable; the push rod drivers correspond to the N groups of linear push rods 49 and comprise three push rod drivers, and each linear push rod 49 is connected to the corresponding push rod driver through a cable; the motor driver and each push rod driver are respectively connected to the upper computer 6.
In this embodiment, the flexible arm 3 is made of flexible polyvinyl chloride; the driving line 25 of the continuum manipulator and the driving line of the gripper are made of nickel-titanium alloy wires; the cylindrical material of the elastic claw 12 is nickel-titanium alloy; the claw-finger decoupling sleeve 14 adopts a high-carbon steel hollow solenoid; the soft shell is made of corrugated pipe made of polyvinyl chloride (PVC).
The control method of the continuum grabbing robot with the hidden tail end gripper comprises the following steps of grabbing objects in two modes according to the size of the objects, pinching the objects with the tail end flexible gripper 1 for the objects with small sizes (5-60 mm), and reeling the objects with large sizes (50-150 mm) by the continuum manipulator 2, wherein the pinching of the tail end flexible gripper 1 and the formation of complementary advantages of the continuum manipulator 2 are as follows: the method comprises the following steps:
(one) pinching small-sized objects:
1) before the pinching operation:
the continuum manipulator 2 is in an undeformed linear state, and the elastic claw fingers 11 are in an undeformed open state;
2) and (3) posture adjustment process:
the upper computer 6 generates motion control curves of 3N linear push rods 49 corresponding to N-level driving units of the continuum manipulator 2 in the posture adjustment process through Cartesian space trajectory planning of the continuum manipulator 2; the cartesian space trajectory planning of the continuum manipulator 2 refers to a process of generating a motion control curve of the corresponding linear push rod 49 by giving constraint conditions (positions, velocities, accelerations and the like of a start point, an end point or an intermediate node) of the tail end or a designated control point of the continuum manipulator 2 through an interpolation algorithm and a kinematic inverse solution; the upper computer 6 sends the obtained motion control curve to the drive control box 5, the drive control box 5 independently drives 3N linear push rods 49 corresponding to N-level driving units of the continuum manipulator 2 according to the received motion control curve, each linear push rod 49 drives a continuum manipulator driving wire 25 fixedly connected with the linear push rod 49, the continuum manipulator driving wires 25 are always in a tensioned state under the action of the driving tension of the linear push rods 49 and the elastic restoring force of the continuum manipulator 2, and the tail end pose of the continuum manipulator 2 is controlled by coordinately controlling the lengths of the 3N continuum manipulator driving wires 25 to drive the tail end flexible claw hands to reach the position for grabbing an object; and the finger end of the elastic claw finger 11 is positioned around the object and the finger arm covers the upper surface of the object;
3) grabbing an object:
the upper computer 6 sends an object grabbing instruction to the driving control box 5, the driving control box 5 controls the linear motor 48 to pull the claw finger driving wire 13 through the stepped shaft 47 to drive the elastic claw palm 12 to downwards drive along the negative direction of the z axis, so that the bottom of the elastic claw finger 11 is driven to move towards the inside of the spiral supporting spring of the flexible framework, the finger arm of the elastic claw finger 11 is constrained in position at the contact point of the inner edge at the tail end of the spiral supporting spring, and the elastic claw finger 11 is elastically deformed to perform closing motion; when the finger end of the elastic claw finger 11 is in contact with an object, the closing motion of the elastic claw finger 11 is blocked, the linear motor 48 is continuously driven, the tension on the claw-finger driving wire 13 is gradually increased, so that the finger end of the elastic claw finger 11 tightly grips the surface of the object, the claw-finger force sensor D1 senses that the tension of the linear motor 48 on the stepped shaft 47 reaches a pinching threshold (2-10N), the linear motor 48 enters a self-locking state, the elastic claw finger 11 stops moving, the object is gripped in a pinching mode, and the magnitude of the pinching force of the elastic claw finger 11 on the object is positively correlated with the magnitude of the pinching threshold;
4) moving the object:
the tail end flexible hand grip 1 keeps pinching the object, and the continuum manipulator 2 moves the tail end flexible hand grip 1 to the release position of the object; the upper computer 6 generates motion control curves of 3N linear push rods 49 corresponding to N-level driving units of the continuum manipulator 2 in the process again through Cartesian space trajectory planning of the continuum manipulator 2; the obtained motion control curve is sent to a driving control box 5, the driving control box 5 respectively and independently drives 3N linear push rods 49 corresponding to N-level driving units of the continuum manipulator 2 according to the received motion control curve, each linear push rod 49 drives a continuum manipulator driving wire 25 fixedly connected with the linear push rod 49, the continuum manipulator driving wire 25 is always in a tensioned state under the action of the driving tension of the linear push rod 49 and the elastic restoring force of the continuum manipulator 2, and the tail end of the continuum manipulator 2 is controlled to move the tail end flexible gripper 1 which is pinched with the object to the position for releasing the object by coordinately controlling the lengths of the 3N continuum manipulator driving wires 25; then 3N linear push rods 49 corresponding to the N-stage driving unit of the continuum manipulator 2 enter a self-locking state, and the continuum manipulator 2 stops moving;
5) releasing the object:
after the elastically deformed elastic claw finger 11 is contacted with the inner edge of the tail end of the spiral supporting spring, under the action of restoring force, the elastic claw finger 11 has an outward movement trend, so that the elastic claw finger 11 can complete an opening action under small thrust; the upper computer 6 sends an object releasing instruction to the driving control box 5, the driving control box 5 controls the linear motor 48 to drive the claw finger driving wire 13 upwards through the stepped shaft 47 in the positive direction of the z axis, and the elastic claw fingers 11 are opened under the action of elastic restoring force and return to the initial opening state to release the object; after the limiting shaft shoulder of the stepped shaft 47 is contacted with the bottom end of the linear sleeve 46, under the continuous pushing of the linear motor 48, the thrust on the stepped shaft 47 is increased, when the finger force sensor D1 senses that the thrust of the linear motor 48 on the stepped shaft 47 reaches a thrust threshold value (2-5N), the linear motor 48 stops driving and enters a self-locking state, and the tail end elastic claw finger 11 returns to an initial opening state and stops moving; therefore, the flexible gripper 1 at the tail end realizes the operation of pinching and releasing an object only by the axial motion of the finger driving wire 13 driven by the linear motor 48, namely, the flexible gripper 1 at the tail end adopts an underactuated mode and controls the opening and closing of four finger arms and finger ends at the tail end only by the axial motion of one finger driving wire 13; meanwhile, the tail end of the spiral supporting spring is funnel-shaped, so that the extending operation of the elastic claw finger 11 is smoother; the linear sleeve 46 limits the fixed connection point of the flexible claw-finger driving wire 13 and the rigid stepped shaft 47 to move in the narrow linear sleeve 46, so as to avoid the claw-finger decoupling sleeve 14 in a non-linear state from blocking the linear movement of the rigid stepped shaft 47; the stepped shaft 47 limits the upper limit of the movement of the finger driving wire 13 in the positive direction of the z-axis; when the flexible manipulator is operated in a narrow unstructured space, the linear motor 48 pulls the claw finger driving wire 13 through the stepped shaft 47 to drive the elastic claw palm 12 to downwards drive along the negative direction of the z axis, the elastic claw finger 11 is completely retracted into the spiral supporting spring of the flexible framework, on one hand, the elastic claw finger 11 is protected, and on the other hand, the size of the grabbing machine is reduced
The size of the robot makes it easier to pass through complex unstructured catwalks;
(II) coiling the object with larger size:
1) before the coiling operation:
the continuum manipulator 2 is in an undeformed linear state, and the elastic claw fingers 11 are in an undeformed open state;
2) dividing N-level driving units:
according to the characteristics of the grabbed object, the N-level driving units are divided into a coiling group and a control group which are connected in series, the coiling group is positioned at the tail end, the control group is positioned at the bottom end, and the coiling group comprises M1A stage driving unit, the control group including M2Stage drive unit, M1+M2To achieve a stable wound object, N, M1M of not less than 1 and coiling group1The series length of the stage driving units is not less than the minimum wrapping length of the force closure or the shape closure formed by the winding group wound on the outer surface of the object; to achieve flexible movement of the guided winding groups in Cartesian space, M2≥3；
3) And (3) posture adjustment process:
the upper computer 6 controls the linear motor 48 to pull the claw driving wire 13 through the stepped shaft 47 through the driving control box 5 to drive the elastic claw palm 12 to downwards drive along the negative direction of the z axis, so that the bottom of the elastic claw finger 11 is driven to move into the spiral supporting spring of the flexible framework, after the bottom end of the elastic claw palm 12 is contacted with the tail end of the flexible claw decoupling sleeve, the movement of the elastic claw palm 12 downwards along the negative direction of the z axis is blocked, under the continuous driving of the linear motor 48, the tension on the claw driving wire 13 is gradually increased, the claw force sensor D1 senses that the tension of the stepped shaft 47 by the linear motor 48 reaches a contraction threshold value (2-5N), the linear motor 48 enters a self-locking state, and the elastic claw finger 11 is completely retracted into the flexible framework and stops moving; then, the winding group is moved from the current position to around the position where the object is located by the manipulation group, and the winding group is located around the object and covers the upper surface of the object, the upper computer 6 passes through the continuum manipulator 2Generating M of control group in the process of Cartesian space trajectory planning23M for stage drive unit2The motion control curve of each linear push rod 49; the upper computer 6 sends the obtained motion control curve to the drive control box 5, and the drive control box 5 respectively and independently drives the M of the control group according to the received motion control curve23M for stage drive unit2Each linear push rod 49 drives the continuum manipulator driving wire 25 fixedly connected with the linear push rod 49, the continuum manipulator driving wire 25 is always in a tensioning state under the action of the driving tension of the linear push rod 49 and the elastic restoring force of the continuum manipulator 2, and the 3M corresponding to the control group is controlled through coordination control2The length of the wire 25 is driven by the continuum manipulator, the end of the steering group is controlled to move the take-up group around the position of the object, and M of the steering group is then controlled23M for stage drive unit2The linear push rod 49 enters a self-locking state, and the control group stops moving; meanwhile, the upper computer 6 generates M of the coiling group in the process through the joint space trajectory planning of the continuum manipulator 213M for stage drive unit1The motion control curve of each linear push rod 49; the joint space trajectory planning of the continuum manipulator 2 refers to a process of generating a motion control curve of the linear push rod 49 by giving constraint conditions (angles of a starting point, a terminal point or an intermediate node, angular velocity, angular acceleration and the like) describing the form of the continuum manipulator 2 through an interpolation algorithm and inverse kinematics; the upper computer 6 sends the obtained motion control curve to the drive control box 5, and the drive control box 5 independently drives the M of the coiling group according to the received motion control curve13M for stage drive unit1Each linear push rod 49 drives the continuum manipulator driving wire 25 fixedly connected with the linear push rod 49, the continuum manipulator driving wire 25 is always in a tensioning state under the action of the driving tension of the linear push rods 49 and the elastic restoring force of the continuum manipulator 2, and 3M corresponding to a winding group is coordinately controlled1The length of the continuum manipulator drive line 25 is used for adjusting the external surface form of the coiling group of the continuum manipulator arm, so that the coiling group covers the external surface of the object;
4) grabbing an object:
when outside the winding groupAfter the surface has been brought into contact with the object, the winding-up movement of the winding-up group is blocked, M in the winding-up group13M for stage drive unit1Continuously driven by a linear push rod 49, 3M1 Root continuum manipulator 2 claw finger drive line 13
The pulling force on the rolling group is gradually increased, so that the outer surface of the continuum manipulator 2 corresponding to the rolling group tightly rolls the surface of the object, and after the continuum manipulator force sensor D3 senses that the pulling force on the driving wire reaches a rolling threshold (80-100N), the driving control box 5 controls the M of the rolling group13M for stage drive unit1The linear push rods 49 simultaneously enter a self-locking state, the coiling group stops moving, and the continuum manipulator 2 realizes the grabbing of objects in a coiling mode; the magnitude of the object reeling force of the reeling group is positively correlated with the magnitude of the reeling threshold;
5) moving the object:
the outer surface of the continuum manipulator 2 corresponding to the winding group holds the wound object; the upper computer 6 generates M of the control group in the process through Cartesian space trajectory planning of the continuum manipulator 223M for stage drive unit2The motion control curve of each linear push rod 49; the upper computer 6 sends the obtained motion control curve to the drive control box 5, and the drive control box 5 respectively and independently drives the M of the control group according to the received motion control curve23M for stage drive unit2Each linear push rod 49 drives the continuum manipulator driving wire 25 fixedly connected with the linear push rod 49, the continuum manipulator driving wire 25 is always in a tensioning state under the action of the driving tension of the linear push rod 49 and the elastic restoring force of the continuum manipulator 2, and the 3M corresponding to the control group is controlled through coordination control2The length of the wire 25 is driven by the continuum manipulator, the end of the steering group is controlled to move the winding group with the object wound thereon to a specified position, and then M of the steering group is controlled23M for stage drive unit2The linear push rod 49 enters a self-locking state, and the operation group stops moving again;
6) releasing the object:
the terminal pose of the control group is kept unchanged; the upper computer 6 generates M of the coiling group in the process of releasing the object through the space trajectory planning of the joints of the continuum manipulator 213M for stage drive unit1The motion control curve of each linear push rod 49; the upper computer 6 sends the obtained motion control curve to the drive control box 5, and the drive control box 5 respectively and independently drives the M of the coiling group according to the received motion control curve13M for stage drive unit1Each linear push rod 49 drives the continuum manipulator driving wire 25 fixedly connected with the linear push rod 49, the continuum manipulator driving wire 25 is always in a tensioning state under the action of the driving tension of the linear push rods 49 and the elastic restoring force of the continuum manipulator 2, and 3M corresponding to a winding group is coordinately controlled1The continuum manipulator drives the wire 25 length to adjust the configuration of the outer surface of the winding set to release the object from the winding set.
Finally, it is noted that the disclosed embodiments are intended to aid in further understanding of the invention, but those skilled in the art will appreciate that: various substitutions and modifications are possible without departing from the spirit and scope of the invention and the appended claims. Therefore, the invention should not be limited to the embodiments disclosed, but the scope of the invention is defined by the appended claims.
Claims (10)
1. A continuum grasping robot with a concealable terminal gripper, the continuum grasping robot with the concealable terminal gripper comprising: the tail end flexible gripper, the continuum manipulator, the flexible arm, the driving table, the driving control box and the upper computer; the tail end flexible gripper, the continuum manipulator and the flexible arm are sequentially connected into a whole, and the tail end flexible gripper and the continuum manipulator are respectively connected to the driving table; the driving platform is connected to the driving control box through a cable; the drive control box is connected to the upper computer through a cable;
the flexible tongs in end includes: the elastic claw finger, the elastic claw palm, the claw finger driving wire and the claw finger decoupling sleeve; the elastic claw finger comprises two groups of elastic sheets, each group of elastic sheets is in a symmetrical shape formed by a super-elastic metal sheet and comprises a U-shaped bottom, finger arms and finger ends which are connected into a whole, two tail ends of the U-shaped bottom are respectively connected with the finger arms, the finger arms and the tail ends of the U-shaped bottom have inclination angles, the tail ends of the finger arms are connected with the finger ends, and inward included angles are formed between the finger ends and the finger arms; the elastic claw palm is a bendable cylindrical body, the central shaft of the cylindrical body is along the z axis, two mutually perpendicular limiting holes which penetrate through the side wall and pass through the central shaft are formed in the cylindrical body, the axes of the limiting holes are respectively parallel to the x axis and the y axis, and the z axis has a height difference; each group of elastic pieces in the elastic claw finger corresponds to one limiting hole respectively, one end of each elastic piece penetrates through the corresponding limiting hole, the finger arms and the finger ends of the elastic pieces are exposed out of the tail ends of the elastic claw palms, and the U-shaped bottom is positioned in the limiting holes, so that the elastic claw finger is installed on the elastic claw palms through the U-shaped bottom, the two groups of elastic pieces are orthogonally arranged, the U-shaped bottoms of the two groups of elastic claw fingers are in clearance fit with the two limiting holes in the elastic claw palms, namely the elastic claw fingers and the elastic claw palms can relatively rotate around the axial direction of the limiting holes, and the self-adaptive capacity of the elastic claw finger for grabbing targets with different shapes is improved; the bottom end of the elastic claw palm is connected with a claw finger driving wire which is connected to the driving platform; a claw-finger decoupling sleeve is coated outside the claw-finger driving wire, and the inner diameter of the claw-finger decoupling sleeve is smaller than the outer diameter of the elastic claw palm so as to realize mechanical limiting;
the continuum manipulator comprises: the flexible framework, the N-level driving unit and the soft shell are arranged on the flexible framework; the flexible framework comprises a coating layer and a spiral supporting spring, the spiral supporting spring is hollow inside, the coating layer is coated outside the spiral supporting spring, so that the flexible framework with the hollow inside is formed, bending and turnover movement can be realized, the axial direction cannot be stretched and compressed, and the central shaft is positioned on the z axis; the tail end of the spiral supporting spring is funnel-shaped; n is an integer more than or equal to 2; the elastic claw palm is positioned at the tail end in the spiral supporting spring, the claw-finger decoupling sleeve penetrates through the inside of the spiral supporting spring, and the tail end of the claw-finger decoupling sleeve and the tail end of the spiral supporting spring have a height difference which is not less than the sum of the lengths of the elastic claw palm and the elastic claw finger when the elastic claw palm and the elastic claw finger are closed, so that the tail end of the claw-finger decoupling sleeve is provided with the height difference required by the elastic claw finger to retract into the spiral supporting spring;
each stage of the driving unit includes: a distal wire spool, a plurality of intermediate wire spools, a base wire spool, a continuum manipulator drive wire, and a continuum manipulator de-coupling sleeve; the tail end wire guiding disc, the plurality of middle wire guiding discs and the base wire guiding disc are respectively annular discs which are parallel to the xy plane and have the same shape, the annular discs are sequentially sleeved outside the flexible framework corresponding to the stage of driving unit from the tail end to the bottom end, and the inner walls of the annular discs are fixedly connected with the outer wall of the flexible framework; three centrosymmetric wire holes and three centrosymmetric arc decoupling sleeve wire passing holes are formed in the corresponding positions of each middle wire disc and each base wire disc; the tail end of each continuous body manipulator driving wire is fixed on the bottom surface of the tail end wire coil, then sequentially penetrates through corresponding wire holes of each intermediate wire coil and the base wire coil and penetrates out of the bottom surface of the base wire coil; the part of the driving wire of the continuum manipulator, which penetrates out of the basic wire coil of the level, is externally wrapped with a decoupling sleeve of the continuum manipulator, and the tail ends of the decoupling sleeves of the three continuum manipulators are fixed on the bottom surface of the basic wire coil of the level; three continuous body manipulator decoupling sleeves of the previous stage sequentially pass through the arc decoupling sleeve wire passing holes of the later stages and penetrate out of the bottom surface of the base wire coil of the last stage; the bottom end of the claw-finger decoupling sleeve extends out of the bottom surface of the base wire coil of the last-stage driving unit; the multi-stage driving units are sequentially sleeved outside the flexible framework in series from the tail end to the bottom end, and a tail end wire coil of the rear stage driving unit and a base wire coil of the front stage driving unit are the same wire coil; the wire guide hole of the rear-stage driving unit is staggered in angle with the wire guide hole of the front-stage driving unit; the claw-finger decoupling sleeves and the continuous body manipulator decoupling sleeves of all stages of driving units are combined after penetrating through the lower surface of the base wire coil of the last stage of driving unit; the soft shell is sleeved outside the tail end wire coil, the plurality of middle wire coils and the base wire coil, and the inner wall of the soft shell is fixedly connected with the outer edges of the tail end wire coil, the plurality of middle wire coils and the base wire coil to form the outer surface of the continuum manipulator; the flexible arm is sleeved outside the closed claw-finger decoupling sleeve and the 3N continuum manipulator decoupling sleeves;
the driving table comprises an upper supporting plate, a lower supporting plate, a side wall, a branching support, a motor fixing frame, a linear sleeve, a stepped shaft, a linear motor, a claw-finger force sensor, a continuum manipulator force sensor and N groups of linear push rods; the upper supporting plate and the lower supporting plate which are positioned on the horizontal plane are opposite and fixedly connected through a side wall, and the upper surface and the lower surface of the upper supporting plate are respectively provided with a branching bracket and a motor fixing frame; the tail end of the flexible arm is fixedly connected with the upper surface of the branching support, and the claw-finger decoupling sleeves and the three continuum manipulator decoupling sleeves are separated after penetrating through the branching support; a linear sleeve is fixed on the upper supporting plate, the bottom end of the claw-finger decoupling sleeve is fixedly connected with the tail end of the linear sleeve, a claw-finger driving wire extends into the linear sleeve and is connected to the tail end of the stepped shaft, and the tail end of the stepped shaft is positioned in the linear sleeve; the bottom end of the stepped shaft is connected to the linear motor, and a claw finger force sensor is arranged between the bottom end of the stepped shaft and the linear motor; the linear motor is placed in the motor fixing frame and moves along the z axis; the upper supporting plate is provided with N groups of through holes corresponding to the N-level driving units, and the upper surface of the lower supporting plate is provided with N groups of linear push rods; corresponding to each stage of driving unit, each group of through holes comprises three through holes, and each group of linear push rods comprises three linear push rods; the bottom ends of the three continuum manipulator decoupling sleeves of each stage of driving unit are fixedly connected to the upper surface of the upper supporting plate corresponding to the corresponding through holes respectively, and the bottom ends of the three continuum manipulator driving wires of each stage of driving unit penetrate through the corresponding through holes and are connected to the corresponding linear push rods; a continuum manipulator force sensor is arranged between each continuum manipulator drive line and the corresponding linear push rod;
the drive control box comprises a motor driver, a push rod driver and a power supply; the power supply is respectively connected to the motor driver and the push rod driver and provides working voltage; the linear motor of the driving platform is connected to the motor driver through a cable; the push rod driver comprises N groups of push rod drivers corresponding to the N groups of linear push rods, each group of push rod drivers comprises three push rod drivers, and each linear push rod is connected to the corresponding push rod driver through a cable; the motor driver and each push rod driver are respectively connected to an upper computer;
according to the size of object, divide into two kinds of modes and snatch the object, adopt terminal flexible tongs to pinch to the less object of size, adopt the continuum manipulator to batch to the great object of size, terminal flexible tongs is pinched and is formed complementary advantage with the continuum manipulator:
pinching small-sized objects: 1) before the pinching operation: the continuum manipulator is in an undeformed linear state, and the elastic claw fingers are in an undeformed open state; 2) and (3) posture adjustment process: the continuum manipulator moving the terminal flexible gripper from a current position to around a location where the object is located, with the finger end of the collet fingers located around the object and the finger arm covering one surface of the object; the upper computer generates motion control curves of 3N linear push rods corresponding to an N-level driving unit of the continuum manipulator in the posture adjustment process through Cartesian space trajectory planning of the continuum manipulator; the upper computer sends the obtained motion control curve to a drive control box, the drive control box independently drives 3N linear push rods corresponding to N-level drive units of the continuum manipulator according to the received motion control curve, each linear push rod drives a continuum manipulator drive wire fixedly connected with the linear push rod, the continuum manipulator drive wires are always in a tensioned state under the action of the drive tension of the linear push rods and the elastic restoring force of the continuum manipulator, the tail end pose of the continuum manipulator is controlled by coordinately controlling the lengths of the 3N continuum manipulator drive wires, and the tail end flexible paw is driven to reach the position for grabbing an object; 3) grabbing an object: the upper computer sends an object grabbing instruction to the driving control box, the driving control box controls the linear motor to pull the claw finger driving line through the stepped shaft to drive the elastic claw palm to move downwards along the negative direction of the z axis, so that the bottom of the elastic claw finger is driven to move towards the spiral supporting spring of the flexible framework, the finger arm of the elastic claw finger is restrained at the contact point of the inner edge at the tail end of the spiral supporting spring, and the elastic claw finger generates elastic deformation and generates closing motion; when the finger end of the elastic claw finger is contacted with an object, the closing motion of the elastic claw finger is blocked, the linear motor is continuously driven, the tension on the claw finger driving wire is gradually increased, so that the finger end of the elastic claw finger tightly grasps the surface of the object, the claw finger force sensor senses that the tension of the linear motor on the stepped shaft reaches a pinching threshold value, the linear motor enters a self-locking state, the elastic claw finger stops moving, the object is grasped in a pinching mode, and the magnitude of the pinching force of the elastic claw finger on the object is positively correlated with the magnitude of the pinching threshold value; 4) moving the object: the flexible gripper keeps pinching the object, and the continuum manipulator moves the flexible gripper at the tail end to a release position of the object; the upper computer generates motion control curves of 3N linear push rods corresponding to the N-level driving unit of the continuum manipulator in the process again through the Cartesian space trajectory planning of the continuum manipulator; the obtained motion control curve is sent to a driving control box, the driving control box respectively and independently drives 3N linear push rods corresponding to N-level driving units of the continuum manipulator according to the received motion control curve, each linear push rod drives a continuum manipulator driving wire fixedly connected with the linear push rod, the continuum manipulator driving wires are always in a tensioned state under the action of the driving tension of the linear push rods and the elastic restoring force of the continuum manipulator, and the tail end of the continuum manipulator is controlled to move a tail end flexible gripper pinching an object to a position releasing the object by coordinately controlling the lengths of the 3N continuum manipulator driving wires; then 3N linear push rods corresponding to the N-stage driving unit of the continuum manipulator enter a self-locking state, and the continuum manipulator stops moving; 5) releasing the object: after the elastically deformed elastic claw fingers are contacted with the inner edge of the tail end of the spiral supporting spring, the elastic claw fingers have an outward movement trend under the action of restoring force, so that the elastic claw fingers can finish an opening action under very small thrust; the upper computer sends an object releasing instruction to the driving control box, the driving control box controls the linear motor to push the claw finger driving wire to drive upwards along the positive direction of the z axis through the stepped shaft, and the elastic claw fingers are opened under the action of elastic restoring force and return to the initial opened state to release the object; after a limiting shaft shoulder of the stepped shaft is contacted with the bottom end of the linear sleeve, the thrust on the stepped shaft is increased under the continuous pushing of the linear motor, when the claw finger force sensor senses that the thrust of the linear motor on the stepped shaft reaches a thrust threshold value, the linear motor stops driving and enters a self-locking state, and the tail end elastic claw finger returns to an initial opening state and stops moving; the flexible gripper at the tail end realizes the operation of pinching and releasing an object only by the axial motion of the claw-finger driving wire driven by the linear motor, namely the flexible gripper at the tail end adopts an underactuated mode and controls the opening and closing of four finger arms and finger ends at the tail end only by the axial motion of one claw-finger driving wire; meanwhile, the tail end of the spiral supporting spring is funnel-shaped, so that the extending operation of the elastic claw finger is smoother; the linear sleeve limits the fixed connection point of the flexible claw-finger driving wire and the rigid stepped shaft to move in the narrow linear sleeve so as to avoid the claw-finger decoupling sleeve in a non-linear state from blocking the linear movement of the rigid stepped shaft; the stepped shaft limits the upper limit of the motion of the claw finger driving wire along the positive direction of the z axis; when the robot is operated in a narrow unstructured space, the linear motor pulls the claw finger driving wire through the stepped shaft to drive the elastic claw palm to move downwards along the negative direction of the z axis, the elastic claw finger is completely retracted into the spiral supporting spring of the flexible framework, on one hand, the elastic claw finger is protected, on the other hand, the size of the grabbing robot is reduced, and the grabbing robot can more easily penetrate through a complex unstructured narrow channel;
coiling the object with larger size: 1) before the coiling operation: the continuum manipulator is in an undeformed linear state, and the elastic claw fingers are in an undeformed open state; 2) dividing N-level driving units: according to the characteristics of the grabbed object, the N-level driving units are divided into a coiling group and a control group which are connected in series, the coiling group is positioned at the tail end, the control group is positioned at the bottom end, and the coiling group comprises M1A stage driving unit, the control group including M2Stage drive unit, M1+M2To achieve a stable wound object, N, M1M of not less than 1 and coiling group1The series length of the stage driving units is not less than the minimum wrapping length of the force closure or the shape closure formed by the winding group wound on the outer surface of the object; to achieve flexible movement of the guided winding groups in Cartesian space, M2Not less than 3; 3) and (3) posture adjustment process: the upper computer controls the linear motor to pull the claw finger driving wire through the stepped shaft through the driving control box to drive the elastic claw palm to drive downwards along the negative direction of the z shaft, so that the bottom of the elastic claw finger is driven to move towards the inner part of the spiral supporting spring of the flexible framework, after the bottom end of the elastic claw palm is contacted with the tail end of the flexible claw decoupling sleeve, the movement of the elastic claw palm downwards along the negative direction of the z shaft is blocked, under the continuous driving of the linear motor, the tension on the claw finger driving wire is gradually increased, after the claw finger force sensor senses that the tension of the linear motor on the stepped shaft reaches a contraction threshold value, the linear motor enters a self-locking state, the elastic claw finger is completely contracted into the flexible framework and is completely contracted into the flexible framework, and the elastic claw finger is in a self-locking stateStopping the movement; then, the reeling groups are moved from the current position to the position around the position of the object through the control group, the reeling groups are positioned around the object and cover the upper surface of the object, and the upper computer generates M of the control group in the process through the Cartesian space trajectory planning of the continuum manipulator23M for stage drive unit2The motion control curve of each linear push rod; the upper computer sends the obtained motion control curve to a drive control box, and the drive control box respectively and independently drives M of the control group according to the received motion control curve23M for stage drive unit2Each linear push rod drives the continuum manipulator driving wire fixedly connected with the linear push rod, the continuum manipulator driving wire is always in a tensioned state under the action of the driving tension of the linear push rods and the elastic restoring force of the continuum manipulator, and the 3M corresponding to the control group is controlled through coordination control2Controlling the end of the steering group to move the take-up group around the position of the object, and then controlling M of the steering group23M for stage drive unit2The linear push rod enters a self-locking state, and the control group stops moving; meanwhile, the upper computer generates M of the coiling group in the process through the space trajectory planning of the joints of the continuum manipulator13M for stage drive unit1The motion control curve of each linear push rod; the upper computer sends the obtained motion control curve to a driving control box, and the driving control box independently drives the M of the coiling group according to the received motion control curve13M for stage drive unit1Each linear push rod drives the continuum manipulator driving wire fixedly connected with the linear push rod respectively, the continuum manipulator driving wire is always in a tensioned state under the action of the driving tension of the linear push rods and the elastic restoring force of the continuum manipulator, and the 3M corresponding to the coiling group is controlled in a coordinated manner1Adjusting the shape of the outer surface of a coiling group of the continuum manipulator arm according to the length of a drive line of the continuum manipulator, so that the coiling group covers the outer surface of the object; 4) grabbing an object: when the outer surface of the winding group is contacted with the object, the winding movement of the winding group is blocked, and M in the winding group13M for stage drive unit1Under the continuous driving of a linear push rod, 3M1The pulling force on the claw finger driving wire of the root continuum manipulator is gradually increased, so that the outer surface of the continuum manipulator corresponding to the coiling group tightly coils the surface of an object, and after the force sensor of the continuum manipulator senses that the pulling force on the driving wire reaches the coiling threshold value, the driving control box controls the M of the coiling group13M for stage drive unit1The linear push rods simultaneously enter a self-locking state, the coiling group stops moving, and the continuum manipulator realizes the grabbing of an object in a coiling manner; the magnitude of the object reeling force of the reeling group is positively correlated with the magnitude of the reeling threshold; 5) moving the object: the outer surface of the continuum manipulator corresponding to the winding group holds the wound object; the upper computer generates M of the control group in the process through Cartesian space trajectory planning of the continuum manipulator23M for stage drive unit2The motion control curve of each linear push rod; the upper computer sends the obtained motion control curve to a drive control box, and the drive control box respectively and independently drives M of the control group according to the received motion control curve23M for stage drive unit2Each linear push rod drives the continuum manipulator driving wire fixedly connected with the linear push rod, the continuum manipulator driving wire is always in a tensioned state under the action of the driving tension of the linear push rods and the elastic restoring force of the continuum manipulator, and the 3M corresponding to the control group is controlled through coordination control2Controlling the length of the drive line of the continuum manipulator, controlling the tail end of the control group to move the winding group wound with the object to a specified position, and then controlling M of the control group23M for stage drive unit2The linear push rod enters a self-locking state, and the operation group stops moving again; 6) releasing the object: the terminal pose of the control group is kept unchanged; the upper computer generates M of the coiling group in the process of releasing the object through the space trajectory planning of the joints of the continuum manipulator13M for stage drive unit1The motion control curve of each linear push rod; the upper computer sends the obtained motion control curve to a drive control box, and the drive control box respectively and independently drives the M of the coiling group according to the received motion control curve13M for stage drive unit1Each linear push rod drives a continuous body manipulator driving wire fixedly connected with the linear push rod, and the driving tension and the connection of the linear push rodsUnder the action of elastic restoring force of the continuum manipulator, the driving wire of the continuum manipulator is always in a tensioned state, and 3M corresponding to the coiling group is coordinately controlled1The length of a driving wire of the continuum manipulator is used for adjusting the external surface form of the coiling group, so that the coiling group releases objects;
the flexible arm is based on the inherent passive compliance, and the flexible arm can adjust the shape of the flexible arm according to the narrow unstructured space.
2. The continuum gripper hidden of claim 1, wherein the finger de-coupling sleeve is a concentric sleeve that is a clearance fit with the drive line.
3. The continuum gripper hidden as claimed in claim 1, wherein the flexible arm is a hollow interior flexible tube made of a flexible material.
4. The continuum grasping robot with the hidden end gripper of claim 3, wherein the flexible arm is made of one of flexible polyvinyl chloride, polyurethane, polyethylene, polypropylene, polyamide, polyoxymethylene, acrylonitrile butadiene styrene copolymer, polycarbonate, polyurethane elastomer rubber and nylon tube.
5. The continuum gripper hidden of claim 1, wherein the linear sleeve is a rigid tube with a hollow interior.
6. The continuum grasping robot of which end grippers are concealable of claim 1, wherein the continuum manipulator drive lines and gripper drive lines are one of nitinol wires, galvanized wires, stainless steel wires, and teflon lines.
7. The continuum grasping robot with hidden end grippers of claim 1 wherein the cylinder material of the resilient gripper fingers is nitinol.
8. The continuum grasping robot with the end gripper hidden according to claim 1, wherein the finger de-coupling sleeve is a high carbon steel hollow solenoid.
9. The continuum gripper hidden of claim 1, wherein the bladder is a bellows of PVC.
10. A method of controlling a continuum gripping robot as claimed in claim 1 wherein the method is divided into two ways of gripping objects based on size of the objects, wherein the objects are gripped by a flexible end gripper for smaller size objects and by a continuum manipulator for larger size objects, wherein the flexible end gripper and the continuum manipulator provide complementary advantages:
(one) pinching small-sized objects:
1) before the pinching operation:
the continuum manipulator is in an undeformed linear state, and the elastic claw fingers are in an undeformed open state;
2) and (3) posture adjustment process:
the upper computer generates motion control curves of 3N linear push rods corresponding to an N-level driving unit of the continuum manipulator in the posture adjustment process through Cartesian space trajectory planning of the continuum manipulator; the upper computer sends the obtained motion control curve to a drive control box, the drive control box independently drives 3N linear push rods corresponding to N-level drive units of the continuum manipulator according to the received motion control curve, each linear push rod drives a continuum manipulator drive wire fixedly connected with the linear push rod, the continuum manipulator drive wires are always in a tensioned state under the action of the drive tension of the linear push rods and the elastic restoring force of the continuum manipulator, the tail end pose of the continuum manipulator is controlled by coordinately controlling the lengths of the 3N continuum manipulator drive wires, and the tail end flexible paw is driven to reach the position for grabbing an object; and the finger end of the elastic claw finger is positioned around the object and the finger arm covers one surface of the object;
3) grabbing an object:
the upper computer sends an object grabbing instruction to the driving control box, the driving control box controls the linear motor to pull the claw finger driving line through the stepped shaft to drive the elastic claw palm to move downwards along the negative direction of the z axis, so that the bottom of the elastic claw finger is driven to move towards the spiral supporting spring of the flexible framework, the finger arm of the elastic claw finger is restrained at the contact point of the inner edge at the tail end of the spiral supporting spring, and the elastic claw finger generates elastic deformation and generates closing motion; when the finger end of the elastic claw finger is contacted with an object, the closing motion of the elastic claw finger is blocked, the linear motor is continuously driven, the tension on the claw finger driving wire is gradually increased, so that the finger end of the elastic claw finger tightly grasps the surface of the object, the claw finger force sensor senses that the tension of the linear motor on the stepped shaft reaches a pinching threshold value, the linear motor enters a self-locking state, the elastic claw finger stops moving, the object is grasped in a pinching mode, and the magnitude of the pinching force of the elastic claw finger on the object is positively correlated with the magnitude of the pinching threshold value;
4) moving the object:
the flexible gripper at the tail end keeps pinching the object, and the continuum manipulator moves the flexible gripper at the tail end to a release position of the object; the upper computer generates motion control curves of 3N linear push rods corresponding to the N-level driving unit of the continuum manipulator in the process again through the Cartesian space trajectory planning of the continuum manipulator; the obtained motion control curve is sent to a driving control box, the driving control box respectively and independently drives 3N linear push rods corresponding to N-level driving units of the continuum manipulator according to the received motion control curve, each linear push rod drives a continuum manipulator driving wire fixedly connected with the linear push rod, the continuum manipulator driving wires are always in a tensioned state under the action of the driving tension of the linear push rods and the elastic restoring force of the continuum manipulator, and the tail end of the continuum manipulator is controlled to move a tail end flexible gripper pinching an object to a position releasing the object by coordinately controlling the lengths of the 3N continuum manipulator driving wires; then 3N linear push rods corresponding to the N-stage driving unit of the continuum manipulator enter a self-locking state, and the continuum manipulator stops moving;
5) releasing the object:
after the elastically deformed elastic claw fingers are contacted with the inner edge of the tail end of the spiral supporting spring, the elastic claw fingers have an outward movement trend under the action of restoring force, so that the elastic claw fingers can finish an opening action under very small thrust; the upper computer sends an object releasing instruction to the driving control box, the driving control box controls the linear motor to push the claw finger driving wire to drive upwards along the positive direction of the z axis through the stepped shaft, and the elastic claw fingers are opened under the action of elastic restoring force and return to the initial opened state to release the object; after a limiting shaft shoulder of the stepped shaft is contacted with the bottom end of the linear sleeve, the thrust on the stepped shaft is increased under the continuous pushing of the linear motor, when the claw finger force sensor senses that the thrust of the linear motor on the stepped shaft reaches a thrust threshold value, the linear motor stops driving and enters a self-locking state, and the tail end elastic claw finger returns to an initial opening state and stops moving; the flexible gripper at the tail end realizes the operation of pinching and releasing an object only by the axial motion of the claw-finger driving wire driven by the linear motor, namely the flexible gripper at the tail end adopts an underactuated mode and controls the opening and closing of four finger arms and finger ends at the tail end only by the axial motion of one claw-finger driving wire; meanwhile, the tail end of the spiral supporting spring is funnel-shaped, so that the extending operation of the elastic claw finger is smoother; the linear sleeve limits the fixed connection point of the flexible claw-finger driving wire and the rigid stepped shaft to move in the narrow linear sleeve so as to avoid the claw-finger decoupling sleeve in a non-linear state from blocking the linear movement of the rigid stepped shaft; the stepped shaft limits the upper limit of the motion of the claw finger driving wire along the positive direction of the z axis; when the robot is operated in a narrow unstructured space, the linear motor pulls the claw finger driving wire through the stepped shaft to drive the elastic claw palm to move downwards along the negative direction of the z axis, the elastic claw finger is completely retracted into the spiral supporting spring of the flexible framework, on one hand, the elastic claw finger is protected, on the other hand, the size of the grabbing robot is reduced, and the grabbing robot can more easily penetrate through a complex unstructured narrow channel;
(II) coiling the object with larger size:
1) before the coiling operation:
the continuum manipulator is in an undeformed linear state, and the elastic claw fingers are in an undeformed open state;
2) dividing N-level driving units:
according to the characteristics of the grabbed object, the N-level driving units are divided into a coiling group and a control group which are connected in series, the coiling group is positioned at the tail end, the control group is positioned at the bottom end, and the coiling group comprises M1A stage driving unit, the control group including M2Stage drive unit, M1+M2To achieve a stable wound object, N, M1M of not less than 1 and coiling group1The series length of the stage driving units is not less than the minimum wrapping length of the force closure or the shape closure formed by the winding group wound on the outer surface of the object; to achieve flexible movement of the guided winding groups in Cartesian space, M2≥3；
3) And (3) posture adjustment process:
the upper computer controls the linear motor to pull the claw finger driving wire through the stepped shaft through the driving control box to drive the elastic claw palm to downwards drive along the negative direction of the z shaft, so that the bottom of the elastic claw finger is driven to move into the spiral supporting spring of the flexible framework, after the bottom end of the elastic claw palm is contacted with the tail end of the flexible claw decoupling sleeve, the movement of the elastic claw palm downwards along the negative direction of the z shaft is blocked, under the continuous driving of the linear motor, the tension on the claw finger driving wire is gradually increased, and after the claw finger force sensor senses that the tension of the linear motor on the stepped shaft reaches a contraction threshold value, the linear motor enters a self-locking state, and the elastic claw finger is completely retracted into the flexible framework and stops moving; then, the reeling groups are moved from the current position to the position around the position of the object through the control group, the reeling groups are positioned around the object and cover the upper surface of the object, and the upper computer generates M of the control group in the process through the Cartesian space trajectory planning of the continuum manipulator23M for stage drive unit2The motion control curve of each linear push rod; the upper computer sends the obtained motion control curve to a drive control box, and the drive control box respectively and independently drives M of the control group according to the received motion control curve23M for stage drive unit2Each linear push rod drives a continuum manipulator drive fixedly connected with the linear push rodThe driving wire of the continuum manipulator is always in a tensioned state under the action of the driving tension of the linear push rod and the elastic restoring force of the continuum manipulator, and the 3M corresponding to the control group is controlled through coordination control2Controlling the end of the steering group to move the take-up group around the position of the object, and then controlling M of the steering group23M for stage drive unit2The linear push rod enters a self-locking state, and the control group stops moving; meanwhile, the upper computer generates M of the coiling group in the process through the space trajectory planning of the joints of the continuum manipulator13M for stage drive unit1The motion control curve of each linear push rod; the upper computer sends the obtained motion control curve to a driving control box, and the driving control box independently drives the M of the coiling group according to the received motion control curve13M for stage drive unit1Each linear push rod drives the continuum manipulator driving wire fixedly connected with the linear push rod respectively, the continuum manipulator driving wire is always in a tensioned state under the action of the driving tension of the linear push rods and the elastic restoring force of the continuum manipulator, and the 3M corresponding to the coiling group is controlled in a coordinated manner1Adjusting the shape of the outer surface of a coiling group of the continuum manipulator arm according to the length of a drive line of the continuum manipulator, so that the coiling group covers the outer surface of the object;
4) grabbing an object:
when the outer surface of the winding group is contacted with the object, the winding movement of the winding group is blocked, and M in the winding group13M for stage drive unit1Under the continuous driving of a linear push rod, 3M1The pulling force on the claw finger driving wire of the root continuum manipulator is gradually increased, so that the outer surface of the continuum manipulator corresponding to the coiling group tightly coils the surface of an object, and after the force sensor of the continuum manipulator senses that the pulling force on the driving wire reaches the coiling threshold value, the driving control box controls the M of the coiling group13M for stage drive unit1The linear push rods simultaneously enter a self-locking state, the coiling group stops moving, and the continuum manipulator realizes the grabbing of an object in a coiling manner; the magnitude of the object reeling force of the reeling group is positively correlated with the magnitude of the reeling threshold;
5) moving the object:
the outer surface of the continuum manipulator corresponding to the winding group holds the wound object; the upper computer generates M of the control group in the process through Cartesian space trajectory planning of the continuum manipulator23M for stage drive unit2The motion control curve of each linear push rod; the upper computer sends the obtained motion control curve to a drive control box, and the drive control box respectively and independently drives M of the control group according to the received motion control curve23M for stage drive unit2Each linear push rod drives the continuum manipulator driving wire fixedly connected with the linear push rod, the continuum manipulator driving wire is always in a tensioned state under the action of the driving tension of the linear push rods and the elastic restoring force of the continuum manipulator, and the 3M corresponding to the control group is controlled through coordination control2Controlling the length of the drive line of the continuum manipulator, controlling the tail end of the control group to move the winding group wound with the object to a specified position, and then controlling M of the control group23M for stage drive unit2The linear push rod enters a self-locking state, and the operation group stops moving again;
6) releasing the object:
the terminal pose of the control group is kept unchanged; the upper computer generates M of the coiling group in the process of releasing the object through the space trajectory planning of the joints of the continuum manipulator13M for stage drive unit1The motion control curve of each linear push rod; the upper computer sends the obtained motion control curve to a drive control box, and the drive control box respectively and independently drives the M of the coiling group according to the received motion control curve13M for stage drive unit1Each linear push rod drives the continuous body manipulator driving wire fixedly connected with the linear push rod, the continuous body manipulator driving wire is always in a tensioned state under the action of the driving tension of the linear push rods and the elastic restoring force of the continuous body manipulator, and 3M corresponding to the coiling group is controlled in a coordinated manner1The length of the drive wire of the continuum manipulator is used for adjusting the external surface form of the winding group, so that the winding group releases the object.
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