技术领域technical field
本发明涉及机械手技术领域，特别涉及一种具有人手同步控制功能的欠驱动机械手。The invention relates to the technical field of manipulators, in particular to an underactuated manipulator with a synchronous control function of human hands.
背景技术Background technique
随着社会发展和科技进步，当今世界机器人技术作为高技术的一个重要分支普遍受到了各国的重视，在工业生产、太空和海洋探索、国防建设以及人民生活等许多领域得到了巨大的发展和越来越广泛的应用。机器人作业环境和执行任务的精细及复杂化程度也变得越来越高，普通机器人以及与其配置的末端夹持装置己远远不能满足航天作业、深海作业、核工业技术以及其它柔性生产线上各种灵巧和精细操作任务的要求，人们期待着能够将一种通用的、智能化的、能适应各种复杂工作需要的末端操作装置与机器人组装起来，协调完成各种复杂和精巧的工作任务。在这种背景下，机器人多指灵巧手的研究己成为机器人研究领域的热门研究方向之一。With the development of society and the advancement of science and technology, robot technology in today's world, as an important branch of high technology, has generally received attention from all countries, and has achieved great development and leapfrog in many fields such as industrial production, space and ocean exploration, national defense construction, and people's lives. more and more widely used. The precision and complexity of the robot's operating environment and execution tasks are becoming higher and higher. Ordinary robots and the end clamping devices equipped with them are far from being able to meet the needs of aerospace operations, deep-sea operations, nuclear industry technology, and other flexible production lines. In order to meet the requirements of such dexterous and delicate manipulation tasks, people expect to be able to assemble a general-purpose, intelligent, end-operating device and robot that can adapt to various complex work needs to coordinate and complete various complex and delicate tasks. In this background, the research of robotic multi-fingered dexterous hands has become one of the hot research directions in the field of robotics research.
传统的专用夹持器虽具有制造简单，控制方便、负载能力强、可靠性高等特点，但是仅对少量特定形状的物体适用，缺乏通用性，不能满足多任务、高适应性的要求。Although the traditional special-purpose gripper has the characteristics of simple manufacture, convenient control, strong load capacity, and high reliability, it is only suitable for a small number of objects with specific shapes, lacks versatility, and cannot meet the requirements of multi-tasking and high adaptability.
其中欠驱动系统是指系统的独立控制变量个数小于系统自由度个数的一类非线性系统，在节约能量、降低造价、减轻重量、增强系统灵活度等方面都较完全驱动系统优越。将欠驱动系统理论应用到机械手的设计中可以简化其结构，降低重量和成本，同时也能提高机械手的性能。但是，关于欠驱动传动系统在机械手上的研究较少，因此研发一款将欠驱动传动系统与机械手相结合的产品，成为了亟待解决的课题。Among them, the underactuated system refers to a kind of nonlinear system in which the number of independent control variables of the system is less than the number of degrees of freedom of the system. It is superior to the fully actuated system in terms of energy saving, cost reduction, weight reduction, and enhanced system flexibility. Applying the theory of underactuated systems to the design of the manipulator can simplify its structure, reduce weight and cost, and at the same time improve the performance of the manipulator. However, there are few studies on the underactuated transmission system on the manipulator, so developing a product that combines the underactuated transmission system with the manipulator has become an urgent problem to be solved.
发明内容Contents of the invention
本发明的目的在于，提供一种具有人手同步控制功能的欠驱动机械手。本发明不仅可通过感应手套对机械手进行人手同步控制，而且本发明采用了改进型的欠驱动机构进行驱动，使得本发明具有适应性强，出力大，控制简单的特点。The object of the present invention is to provide an underactuated manipulator with the function of manual synchronous control. The invention can not only control the manipulator synchronously through the induction glove, but also adopts an improved under-actuated mechanism for driving, so that the invention has the characteristics of strong adaptability, large output and simple control.
本发明的技术方案：一种具有人手同步控制功能的欠驱动机械手，包括感应手套本体、欠驱动机械手本体和控制模块；The technical solution of the present invention: an underactuated manipulator with the function of manual synchronous control, including a sensing glove body, an underactuated manipulator body and a control module;
所述感应手套本体包括带有五个指套的橡胶手套，橡胶手套的每个指套的背面均固定有电阻式弯曲传感器；所述欠驱动机械手本体包括手掌基座，手掌基座上连接有五个驱动手指，每个驱动手指与手掌基座之间设有欠驱动机构；所述驱动手指包括与手掌基座活动连接的指根块，指根块的前端铰接有指中块，指中块的前端铰接有指尖块；The induction glove body includes a rubber glove with five fingertips, and a resistive bending sensor is fixed on the back of each fingertip of the rubber glove; the underactuated manipulator body includes a palm base connected with a Five driving fingers, an under-actuated mechanism is arranged between each driving finger and the palm base; The front end of the block is hinged with a fingertip block;
所述欠驱动机构包括铰接在指尖块背部的第一连杆，所述指中块的背部末端铰接有第二连杆，所述第一连杆的顶端与第二连杆的顶端铰接，所述指根块的背部末端铰接有第三连杆，第三连杆的顶端铰接有第四连杆，第四连杆的顶端与第二连杆的中部铰接；所述手掌基座的背部经固定架固定有驱动舵机，驱动舵机的输出轴连接有第五连杆，第五连杆的顶端与第三连杆的中端铰接；The under-actuated mechanism includes a first connecting rod hinged at the back of the fingertip block, a second connecting rod is hinged at the back end of the middle finger block, the top of the first connecting rod is hinged with the top of the second connecting rod, The back end of the finger root block is hinged with a third connecting rod, the top of the third connecting rod is hinged with a fourth connecting rod, and the top of the fourth connecting rod is hinged with the middle part of the second connecting rod; the back of the palm base The driving steering gear is fixed through the fixing frame, the output shaft of the driving steering gear is connected with the fifth connecting rod, and the top of the fifth connecting rod is hinged with the middle end of the third connecting rod;
所述控制模块包括控制板，控制板上设有单片机模块和供电电源模块，所述单片机模块与电阻式弯曲传感器相连，用于接收电阻式弯曲传感器的反馈信号；所述单片机模块与驱动舵机相连，用于根据接收的电阻式弯曲传感器的反馈信号控制驱动舵机动作。The control module includes a control board, the control board is provided with a single-chip module and a power supply module, the single-chip module is connected with the resistive bending sensor, and is used to receive the feedback signal of the resistive bending sensor; the single-chip module is connected with the driving steering gear Connected, used to control the action of the driving servo according to the feedback signal received from the resistive bending sensor.
上述的具有人手同步控制功能的欠驱动机械手中，所述电阻式弯曲传感器为长条形，电阻式弯曲传感器的上端固定在橡胶手套的指尖处，电阻式弯曲传感器的中端及底端经橡胶管固定在橡胶手套的指背处。In the above-mentioned underactuated manipulator with manual synchronous control function, the resistive bending sensor is strip-shaped, the upper end of the resistive bending sensor is fixed at the fingertip of the rubber glove, the middle end and the bottom end of the resistive bending sensor are The rubber tube is fixed at the finger back of the rubber glove.
前述的具有人手同步控制功能的欠驱动机械手中，所述指根块在靠近手掌基座的一端设有第一斜槽，所述指中块在靠近指根块的一端设有第二斜槽，所述指尖块在靠近指中块的一端设有第三斜槽。In the aforementioned underactuated manipulator with manual synchronous control function, the base of the finger is provided with a first chute at the end close to the palm base, and the middle finger is provided with a second chute at the end close to the base of the finger , the fingertip block is provided with a third chute at one end close to the middle finger block.
前述的具有人手同步控制功能的欠驱动机械手中，所述手掌基座的背部设置为与人体手背相吻合的曲面。In the aforementioned underactuated manipulator with the synchronous control function of the human hand, the back of the palm base is set as a curved surface matching the back of the human hand.
前述的具有人手同步控制功能的欠驱动机械手中，所述手掌基座的掌心处设有薄片，薄片与手掌基座之间配合形成与人体手部相适配的收纳腔。In the aforementioned underactuated manipulator with the function of synchronous control of human hands, a thin sheet is provided at the palm center of the palm base, and the thin sheet and the palm base cooperate to form a storage cavity suitable for the human hand.
前述的具有人手同步控制功能的欠驱动机械手中，所述手掌基座上设有第一转轴连接块，所述指根块上设有与第一转轴连接块配合的第二转轴连接块，所述第三连杆的端部设有第三连杆圆头，所述第一转轴连接块、第二转轴连接块和第三连杆圆头经第一转轴固定。In the aforementioned underactuated manipulator with manual synchronous control function, the palm base is provided with a first rotating shaft connection block, and the finger root block is provided with a second rotating shaft connection block that cooperates with the first rotating shaft connection block. The end of the third connecting rod is provided with a round head of the third connecting rod, and the connecting block of the first rotating shaft, the connecting block of the second rotating shaft and the round head of the third connecting rod are fixed through the first rotating shaft.
前述的具有人手同步控制功能的欠驱动机械手中，所述第一连杆的两端均设有第一连杆夹头，所述指尖块上设有第一铰接块，所述第一铰接块与第一连杆一端的第一连杆夹头之间经第二转轴固定。In the aforementioned underactuated manipulator with manual synchronous control function, both ends of the first connecting rod are provided with first connecting rod clamps, and the fingertip block is provided with a first hinge block, and the first hinge The block and the first connecting rod chuck at one end of the first connecting rod are fixed via the second rotating shaft.
前述的具有人手同步控制功能的欠驱动机械手中，所述指中块上设有第二铰接块，所述第二连杆的一端设有第二连杆夹头，所述第二连杆的另一端设有第二连杆圆头，所述第二连杆圆头与第一连杆另一端的第一连杆夹头经第三转轴固定，所述第二连杆夹头与第二铰接块经第四转轴固定。In the aforementioned underactuated manipulator with manual synchronous control function, the middle finger block is provided with a second hinge block, and one end of the second connecting rod is provided with a second connecting rod chuck, and the second connecting rod The other end is provided with the round head of the second connecting rod, and the round head of the second connecting rod is fixed with the first connecting rod chuck at the other end of the first connecting rod through the third rotating shaft, and the second connecting rod chuck is connected with the second connecting rod chuck. The hinge block is fixed through the fourth rotating shaft.
现有技术相比，本发明具有以下优点：Compared with the prior art, the present invention has the following advantages:
1、本发明通过设置可穿戴的感应手套本体、欠驱动机械手本体和控制模块，可通过感应手套本体作出相应的抓取手势，则设置在感应手套本体上的电阻式弯曲传感器则对感应手套本体中的每个手指的弯曲度进行监测，并将监测的弯曲度数据信息传递给控制模块，控制模块则根据接收到的弯曲度数据信息对欠驱动机械手本体进行相应的控制，使得欠驱动机械手本体作出相应的操作者通过与感应手套本体作出的抓取手势，本发明可通过感应手套本体对欠驱动机械手本体进行人手同步控制，使得欠驱动机械手本体准确地作出与人体手势相同的抓取手势，方便欠驱动机械手本体对被抓取的物件进行准确的抓取。1. The present invention can make corresponding grasping gestures through the induction glove body by setting the wearable induction glove body, the underactuated manipulator body and the control module. The curvature of each finger in the system is monitored, and the monitored curvature data information is transmitted to the control module, and the control module controls the underactuated manipulator body accordingly according to the received curvature data information, so that the underactuated manipulator body Make corresponding grasping gestures made by the operator with the sensing glove body, the present invention can perform manual synchronous control on the underactuated manipulator body through the sensing glove body, so that the underactuated manipulator body can accurately make the same grabbing gesture as the human gesture, It is convenient for the body of the underactuated manipulator to accurately grasp the grasped object.
其中，欠驱动机构包括铰接在指尖块背部前中端的第一连杆，所述指中块的背部末端铰接有第二连杆，所述第一连杆的顶端与第二连杆的顶端铰接，所述指根块的背部末端设有第三连杆，第三连杆的顶端铰接有第四连杆，第四连杆的顶端与第二连杆的中部铰接；所述手掌基座的背部经固定架固定有驱动舵机，驱动舵机的输出轴连接有第五连杆，第五连杆的顶端与第三连杆的中端铰接。在欠驱动机械手本体工作时，控制模块对驱动舵机进行控制，则驱动舵机通过第五连杆带动第三连杆转动，第三连杆则通过第四连杆带动第二连杆转动，则转动的第二连杆带动第一连杆转动，从而实现指根块、指中块和指尖块的转动，从而实现驱动手指作出弯曲手势，来对物体进行抓取。本发明通过一个驱动舵机来对带动连杆之间的连动，来同时带动指根块、指中块和指尖块，使得驱动手指作出弯曲手势，具有结构简单、同步性高的特点。而传统机械手的驱动机构是通过独立的驱动机构来驱动各个指关节运动，相互独立运动的指关节配合形成抓取手势，使得需要众多的驱动机构来实现手指作出弯曲姿势，大大增加了生产成本，并且同步性不高，稳定性差。本发明较传统的机械手相比，采用改进型的欠驱动机构来驱动手指进行弯曲，具有同步性好，稳定性强，出力大、结构简单的特点。Wherein, the under-actuated mechanism includes a first connecting rod hinged at the front middle end of the back of the fingertip block, a second connecting rod is hinged at the back end of the middle finger block, and the top end of the first connecting rod is connected with the top end of the second connecting rod. Hinged, the back end of the root block is provided with a third connecting rod, the top of the third connecting rod is hinged with a fourth connecting rod, and the top of the fourth connecting rod is hinged with the middle part of the second connecting rod; the palm base The back of the drive steering gear is fixed with a driving steering gear through a fixing frame, the output shaft of the driving steering gear is connected with the fifth connecting rod, and the top of the fifth connecting rod is hinged with the middle end of the third connecting rod. When the underactuated manipulator body is working, the control module controls the driving steering gear, and the driving steering gear drives the third connecting rod to rotate through the fifth connecting rod, and the third connecting rod drives the second connecting rod to rotate through the fourth connecting rod. Then the rotating second connecting rod drives the first connecting rod to rotate, thereby realizing the rotation of the root block, the middle block of the finger and the fingertip block, thereby realizing driving the fingers to make a bending gesture to grasp the object. The present invention uses a driving steering gear to drive the linkage between the connecting rods to simultaneously drive the root block, the middle block and the fingertip block, so that the fingers can be driven to make a bending gesture, which has the characteristics of simple structure and high synchronization. However, the driving mechanism of the traditional manipulator drives each knuckle movement through an independent driving mechanism, and the knuckles that move independently of each other cooperate to form a grasping gesture, which requires many driving mechanisms to realize the bending posture of the fingers, which greatly increases the production cost. And the synchronization is not high, and the stability is poor. Compared with the traditional manipulator, the present invention uses an improved under-actuated mechanism to drive fingers to bend, and has the characteristics of good synchronization, strong stability, large output force and simple structure.
2、本发明中的电阻式弯曲传感器为长条形，电阻式弯曲传感器的上端固定在橡胶手套的指尖处，电阻式弯曲传感器的中端及底端经橡胶管固定在橡胶手套的指背处，起到了对电阻式弯曲传感器进行限位固定的作用，使的电阻式弯曲传感器可以在橡胶管内进行滑动，有效地的避免了电阻式弯曲传感器在指背处发生倾斜移位，而使得电阻式弯曲传感器测量的手势数据与人体手部手势较为精准，从而精准地控制欠驱动机械手本体作出与人体手部手势相同的抓取手势。2. The resistive bending sensor in the present invention is strip-shaped, and the upper end of the resistive bending sensor is fixed on the fingertip of the rubber glove, and the middle end and the bottom end of the resistive bending sensor are fixed on the back of the finger of the rubber glove through a rubber tube It plays the role of limiting and fixing the resistive bending sensor, so that the resistive bending sensor can slide in the rubber tube, effectively avoiding the oblique displacement of the resistive bending sensor at the back of the finger, and making the resistance The gesture data measured by the type bending sensor is more accurate than that of the human hand gesture, so that the underactuated manipulator body can be precisely controlled to make the same grasping gesture as the human hand gesture.
3、本发明中的指根块在靠近手掌基座的一端设有第一斜槽，所述指中块在靠近指根块的一端设有第二斜槽，所述指尖块在靠近指中块的一端设有第三斜槽，使得上下指节配合，形成一个V型槽，给指节处留有弯曲空间，使得驱动手指能有效弯曲，有效地增加了驱动手指上各指关节的弯曲范围。3. The root block in the present invention is provided with a first chute at the end close to the palm base, the middle finger block is provided with a second chute at the end close to the root block, and the fingertip block is provided with a second chute at the end close to the fingertip block. One end of the middle block is provided with a third chute, so that the upper and lower knuckles cooperate to form a V-shaped groove, leaving a bending space for the knuckles, so that the driving fingers can be bent effectively, and the knuckles on the driving fingers are effectively increased. bending range.
4、本发明中的手掌基座上设有第一转轴连接块，所述指根块上设有与第一转轴连接块配合的第二转轴连接块，所述第三连杆的端部设有第三连杆圆头，所述第一转轴连接块、第二转轴连接块和第三连杆圆头经第一转轴固定；所述第一连杆的两端均设有第一连杆夹头，所述指尖块上设有第一铰接块，所述第一铰接块与第一连杆一端的第一连杆夹头之间经第二转轴固定，所述指中块上设有第二铰接块，所述第二连杆的一端设有第二连杆夹头，所述第二连杆的另一端设有第二连杆圆头，所述第二连杆圆头与第一连杆另一端的第一连杆夹头经第三转轴固定，所述第二连杆夹头与第二铰接块经第四转轴固定。4. The palm base in the present invention is provided with a first rotating shaft connecting block, and the finger root block is provided with a second rotating shaft connecting block matched with the first rotating shaft connecting block, and the end of the third connecting rod is provided with There is a round head of the third connecting rod, the connecting block of the first rotating shaft, the connecting block of the second rotating shaft and the round head of the third connecting rod are fixed by the first rotating shaft; both ends of the first connecting rod are provided with first connecting rods Chuck, the fingertip block is provided with a first hinged block, the first hinged block and the first connecting rod chuck at one end of the first connecting rod are fixed via a second rotating shaft, and the middle finger block is provided with There is a second hinge block, one end of the second connecting rod is provided with a second connecting rod chuck, the other end of the second connecting rod is provided with a second connecting rod round head, and the second connecting rod round head is connected to the The first connecting rod chuck at the other end of the first connecting rod is fixed via the third rotating shaft, and the second connecting rod chuck and the second hinge block are fixed via the fourth rotating shaft.
其中，指尖块、第二转轴、指尖块与指中块之间的铰接轴三点之间组成一个三角形，改三角形为第一欠驱动结构，其依靠第一连杆通过第二转轴提供动力，以指尖块与指中块之间的铰接轴为轴心进行旋转；Among them, the fingertip block, the second rotating shaft, the hinge shaft between the fingertip block and the finger middle block form a triangle, and the triangle is changed into the first under-actuated structure, which relies on the first connecting rod to provide Power, rotate around the hinge shaft between the fingertip block and the middle finger block;
其中，第一连杆、第二转轴和第三转轴之间组成第一驱动连杆，由第一连杆为指尖块提供动力；Wherein, the first connecting rod, the second rotating shaft and the third rotating shaft form a first driving connecting rod, and the first connecting rod provides power for the fingertip block;
其中指中块，指尖块与指中块之间的铰接轴、第四转轴、指中块与指根块之间的铰接轴四者之间构成第二驱动连杆，其提供第二连杆通过第四转轴提供动力，以指中块与指根块之间的铰接轴为轴心进行旋转，力由指尖块与指中块之间的铰接轴传递给指尖块，同时力又由指中块与指根块之间的铰接轴传递给指根块；Among them, the middle finger block, the hinge shaft between the fingertip block and the middle finger block, the fourth rotating shaft, and the hinge shaft between the middle finger block and the root block form the second drive link, which provides the second connecting rod. The rod provides power through the fourth rotating shaft, and rotates around the hinge shaft between the middle finger block and the root block of the finger. The force is transmitted to the fingertip block through the hinge shaft between the fingertip block and the middle finger block, and the force The hinge shaft between the middle finger block and the finger root block is transmitted to the finger root block;
其中第二连杆、第四转轴、第三转轴三者之间构成第二欠驱动结构，力由第三转轴传递给第一连杆，由第四转轴传递给指中块；The second under-actuated structure is formed between the second connecting rod, the fourth rotating shaft, and the third rotating shaft, and the force is transmitted from the third rotating shaft to the first connecting rod, and from the fourth rotating shaft to the middle finger;
其中，指根块，指中块与指根块之间的铰接轴，第一转轴三者之间构成第三驱动连杆，其依靠指中块通过指中块与指根块之间的铰接轴提供动力，以第一转轴为轴心进行旋转；Among them, the finger root block, the hinge shaft between the finger middle block and the finger root block, and the first rotating shaft form the third drive link, which relies on the finger middle block to pass through the hinge between the finger middle block and the finger root block. The shaft provides power and rotates around the first rotating shaft;
其中，第四连杆，第四连杆与第二连杆之间的铰接轴，第三连杆与第四连杆之间的铰接轴三者之间构成第四驱动连杆，力由第四连杆与第二连杆之间的铰接轴传递给第二连杆；Among them, the fourth connecting rod, the hinge shaft between the fourth connecting rod and the second connecting rod, and the hinge shaft between the third connecting rod and the fourth connecting rod constitute the fourth driving connecting rod, and the force is determined by the first connecting rod. The hinge shaft between the four links and the second link is transmitted to the second link;
其中，第三连杆，第一转轴，第三连杆与第四连杆之间的铰接轴三者之间构成第五驱动连杆，力由第三连杆与第四连杆之间的铰接轴传递给第四连杆，最后由驱动舵机连接的第五连杆与第四连杆的中端铰接来为整套机构提供动力，本发明通过一个驱动舵机来对带动连杆之间的连动，来同时带动指根块、指中块和指尖块，使得驱动手指作出弯曲手势，具有结构简单、同步性高，稳定性强的特点。Among them, the third connecting rod, the first rotating shaft, and the hinge shaft between the third connecting rod and the fourth connecting rod form the fifth driving connecting rod, and the force is formed by the third connecting rod and the fourth connecting rod. The articulated shaft is transmitted to the fourth connecting rod, and finally the middle end of the fifth connecting rod connected to the driving steering gear is hinged with the middle end of the fourth connecting rod to provide power for the whole set of mechanisms. The interlocking motion drives the base of the finger, the middle of the finger and the tip of the finger at the same time, so that the finger is driven to make a bending gesture. It has the characteristics of simple structure, high synchronization and strong stability.
附图说明Description of drawings
图1是本发明的结构示意图；Fig. 1 is a structural representation of the present invention;
图2是驱动手指的结构示意图；Fig. 2 is the structural representation of driving finger;
图3是驱动手指的背部示意图；Fig. 3 is a schematic diagram of the back of the driving finger;
图4是驱动手指的弯曲状态图；Fig. 4 is the bending state diagram of driving finger;
图5是欠驱动机械手本体的结构示意图；Fig. 5 is a structural schematic diagram of an underactuated manipulator body;
图6是手掌基座的结构示意图；Fig. 6 is a schematic structural view of the palm base;
图7欠驱动机械手本体的工作原理图；Figure 7 is a working principle diagram of the underactuated manipulator body;
图8是图3中A处的局部放大图。Fig. 8 is a partial enlarged view of A in Fig. 3 .
1、感应手套本体；2、欠驱动机械手本体；3、控制模块；4、橡胶手套；5、电阻式弯曲传感器；6、手掌基座；7、驱动手指；8、欠驱动机构；9、指根块；10、指中块；11、指尖块；12、第一连杆；13、第二连杆；14、第三连杆；15、第四连杆；16、固定架、17、驱动舵机；18、第五连杆；19、单片机模块；20、供电电源模块；21、控制板；22、橡胶管；23、第一斜槽；24、第二斜槽；25、第三斜槽；26、薄片；27、第一转轴连接块；28、第二转轴连接块；29、第三连杆圆头；31、第一转轴；32、第一连杆夹头；33、第一铰接块；34、第二转轴；35、第二铰接块；36、第二连杆夹头；37、第二连杆圆头；38、第三转轴；39、第四转轴；40、通孔。1. Sensing glove body; 2. Underactuated manipulator body; 3. Control module; 4. Rubber glove; 5. Resistive bending sensor; 6. Palm base; 7. Driving finger; 8. Underactuated mechanism; 9. Finger Root block; 10, finger middle block; 11, fingertip block; 12, first connecting rod; 13, second connecting rod; 14, third connecting rod; 15, fourth connecting rod; 16, fixed frame, 17, Drive steering gear; 18, fifth connecting rod; 19, single-chip microcomputer module; 20, power supply module; 21, control board; 22, rubber tube; 23, first chute; 24, second chute; 25, third Chute; 26, sheet; 27, the first shaft connecting block; 28, the second shaft connecting block; 29, the third connecting rod round head; 31, the first rotating shaft; 32, the first connecting rod chuck; 33, the first connecting rod chuck A hinge block; 34, the second rotating shaft; 35, the second hinge block; 36, the second connecting rod chuck; 37, the second connecting rod round head; 38, the third rotating shaft; 39, the fourth rotating shaft; 40, through hole.
具体实施方式Detailed ways
下面结合附图和实施例对本发明作进一步的说明，但并不作为对本发明限制的依据。The present invention will be further described below in conjunction with the accompanying drawings and embodiments, but not as a basis for limiting the present invention.
实施例：一种具有人手同步控制功能的欠驱动机械手，如附图1-8所示，包括感应手套本体1、欠驱动机械手本体2和控制模块3；Embodiment: An underactuated manipulator with human-hand synchronous control function, as shown in Figures 1-8, including an induction glove body 1, an underactuated manipulator body 2 and a control module 3;
所述感应手套本体1包括带有五个指套的橡胶手套4，橡胶手套4的每个指套的背面均固定有电阻式弯曲传感器5；所述欠驱动机械手本体2包括手掌基座6，手掌基座6上连接有五个驱动手指7，每个驱动手指7与手掌基座6之间设有欠驱动机构8；所述驱动手指7包括与手掌基座6活动连接的指根块9，指根块9的前端铰接有指中块10，指中块10的前端铰接有指尖块11；本发明可通过感应手套本体1对欠驱动机械手本体2进行人手同步控制，使得欠驱动机械手本体2准确地作出与人体手势相同的抓取手势，方便欠驱动机械手本体2对被抓取的物件进行准确的抓取。The induction glove body 1 includes a rubber glove 4 with five fingertips, the back of each fingertip of the rubber glove 4 is fixed with a resistive bending sensor 5; the underactuated manipulator body 2 includes a palm base 6, Five driving fingers 7 are connected to the palm base 6, and an under-actuated mechanism 8 is provided between each driving finger 7 and the palm base 6; , the front end of the finger root block 9 is hinged with the middle finger block 10, and the front end of the middle finger block 10 is hinged with the fingertip block 11; the present invention can perform manual synchronous control on the underactuated manipulator body 2 through the induction glove body 1, so that the underactuated manipulator The main body 2 accurately makes the same grasping gesture as the human body gesture, which facilitates the accurate grasping of the grasped object by the underactuated manipulator main body 2 .
所述欠驱动机构8包括铰接在指尖块11背部的第一连杆12，所述指中块10的背部末端铰接有第二连杆13，指中块10的背部末端指得是指中块10靠近指根块9的一端；所述第一连杆12的顶端与第二连杆13的顶端铰接，所述指根块9的背部末端设有第三连杆14，其中指根块9的背部末端指得是指根块靠近手掌基座的一端；第三连杆14的顶端铰接有第四连杆15，第四连杆15的顶端与第二连杆13的中部铰接；所述手掌基座6的背部经固定架16固定有驱动舵机17，驱动舵机17可采用普通的微型电机即可，比如步进电机；驱动舵机17的输出轴连接有第五连杆18，第五连杆18的顶端与第三连杆14的中端铰接；在欠驱动机械手本体2工作时，控制模块3对驱动舵机17进行控制，则驱动舵机17通过第五连杆18带动第三连杆14转动，第三连杆14则通过第四连杆15带动第二连杆13转动，则转动的第二连杆13带动第一连杆12转动，从而实现指根块9、指中块10和指尖块11的转动，从而实现驱动手指7作出弯曲手势，来对物体进行抓取。本发明通过一个驱动舵机17来对带动连杆之间的连动，来同时带动指根块9、指中块10和指尖块11，使得驱动手指7作出弯曲手势，具有结构简单、同步性高的特点。而传统机械手的驱动机构是通过独立的驱动机构来驱动各个指关节运动，相互独立运动的指关节配合形成抓取手势，使得需要众多的驱动机构来实现手指作出弯曲姿势，大大增加了生产成本，并且同步性不高，稳定性差。本发明较传统的机械手相比，采用改进型的欠驱动机构8来驱动手指7进行弯曲，具有同步性好，稳定性强，出力大、结构简单的特点。The under-actuated mechanism 8 includes a first connecting rod 12 hinged on the back of the fingertip block 11, a second connecting rod 13 is hinged at the back end of the middle finger block 10, and the back end of the middle finger block 10 points to the center of the finger. The block 10 is close to one end of the root block 9; the top end of the first connecting rod 12 is hinged with the top end of the second connecting rod 13, and the back end of the root block 9 is provided with a third connecting rod 14, wherein the root block The back end of 9 refers to the end of the root block near the palm base; the top of the third connecting rod 14 is hinged with the fourth connecting rod 15, and the top of the fourth connecting rod 15 is hinged with the middle part of the second connecting rod 13; The back of palm base 6 is fixed with driving steering gear 17 through fixed mount 16, and driving steering gear 17 can adopt common miniature motor to get final product, such as stepper motor; The output shaft of driving steering gear 17 is connected with the fifth connecting rod 18 , the top of the fifth connecting rod 18 is hinged with the middle end of the third connecting rod 14; when the underactuated manipulator body 2 is working, the control module 3 controls the driving steering gear 17, and the driving steering gear 17 passes through the fifth connecting rod 18 Drive the third connecting rod 14 to rotate, and the third connecting rod 14 drives the second connecting rod 13 to rotate through the fourth connecting rod 15, and then the rotating second connecting rod 13 drives the first connecting rod 12 to rotate, thereby realizing the finger root block 9 1. Rotation of the middle finger block 10 and the fingertip block 11, so as to drive the finger 7 to make a bending gesture to grasp the object. The present invention uses a driving steering gear 17 to drive the linkage between the connecting rods to simultaneously drive the finger base block 9, the middle finger block 10 and the fingertip block 11, so that the driving finger 7 makes a bending gesture, and has the advantages of simple structure, synchronous high sex characteristics. However, the driving mechanism of the traditional manipulator drives each knuckle movement through an independent driving mechanism, and the knuckles that move independently of each other cooperate to form a grasping gesture, which requires many driving mechanisms to realize the bending posture of the fingers, which greatly increases the production cost. And the synchronization is not high, and the stability is poor. Compared with the traditional manipulator, the present invention uses an improved under-actuated mechanism 8 to drive the finger 7 to bend, and has the characteristics of good synchronization, strong stability, large output and simple structure.
所述控制模块3包括控制板21，控制板21上设有单片机模块19和供电电源模块20，所述单片机模块19与电阻式弯曲传感器5相连，用于接收电阻式弯曲传感器5的反馈信号；所述单片机模块19与驱动舵机17相连，用于根据接收的电阻式弯曲传感器5的反馈信号控制驱动舵机17动作，其中供电电源模块20用来通过电能。本发明通过设置可穿戴的感应手套本体1、欠驱动机械手本体2和控制模块3，通过感应手套本体1作出相应的抓取手势，则设置在感应手套本体1上的电阻式弯曲传感器5则对感应手套本体1中的每个手指的弯曲度进行监测，并将监测的弯曲度数据信息传递给控制模块3，控制模块3则根据接收到的弯曲度数据信息对欠驱动机械手本体2进行相应的控制，使得欠驱动机械手本体2作出相应的操作者通过与感应手套本体1作出的抓取手势。The control module 3 includes a control board 21, the control board 21 is provided with a single-chip microcomputer module 19 and a power supply module 20, and the single-chip microcomputer module 19 is connected with the resistive bending sensor 5 for receiving the feedback signal of the resistive bending sensor 5; The single-chip microcomputer module 19 is connected with the driving steering gear 17, and is used to control the action of the driving steering gear 17 according to the feedback signal received from the resistive bending sensor 5, wherein the power supply module 20 is used for passing electric energy. In the present invention, a wearable sensing glove body 1, an underactuated manipulator body 2, and a control module 3 are provided, and a corresponding grasping gesture is made through the sensing glove body 1, and the resistive bending sensor 5 arranged on the sensing glove body 1 then responds to The bending degree of each finger in the sensing glove body 1 is monitored, and the monitored bending degree data information is transmitted to the control module 3, and the control module 3 performs a corresponding response to the underactuated manipulator body 2 according to the received bending degree data information. control, so that the underactuated manipulator body 2 makes a corresponding grabbing gesture made by the operator through the sensing glove body 1 .
所述电阻式弯曲传感器5为长条形，电阻式弯曲传感器5的上端固定在橡胶手套4的指尖处，电阻式弯曲传感器5的中端及底端经橡胶管22固定在橡胶手套4的指背处，起到了对电阻式弯曲传感器5进行限位固定的作用，使的电阻式弯曲传感器5可以在橡胶管22内进行适当滑动。有效地的避免了电阻式弯曲传感器5在指背处发生倾斜移位，而使得电阻式弯曲传感器5测量的手势数据与人体手部手势较为精准，从而精准地控制欠驱动机械手本体2作出与人体手部手势相同的抓取手势。The resistive bending sensor 5 is strip-shaped, and the upper end of the resistive bending sensor 5 is fixed on the fingertip of the rubber glove 4, and the middle end and the bottom end of the resistive bending sensor 5 are fixed on the bottom of the rubber glove 4 through the rubber tube 22. The back of the finger plays a role of limiting and fixing the resistive bending sensor 5 , so that the resistive bending sensor 5 can slide properly in the rubber tube 22 . Effectively avoiding the inclination displacement of the resistive bending sensor 5 at the back of the finger, so that the gesture data measured by the resistive bending sensor 5 and the hand gestures of the human body are more accurate, thereby accurately controlling the underactuated manipulator body 2 to make contact with the human body. Grab gesture same as hand gesture.
所述指根块9在靠近手掌基座6的一端设有第一斜槽23，所述指中块10在靠近指根块9的一端设有第二斜槽24，所述指尖块11在靠近指中块10的一端设有第三斜槽25，使得上下指节配合，形成一个V型槽，给指节处留有弯曲空间，使得驱动手指7能有效弯曲，有效地增加了驱动手指7上各指关节的弯曲范围。The finger base block 9 is provided with a first chute 23 at an end close to the palm base 6, and the middle finger block 10 is provided with a second chute 24 at an end close to the finger base block 9. The fingertip block 11 One end near the middle finger block 10 is provided with a third chute 25, so that the upper and lower knuckles cooperate to form a V-shaped groove, leaving a bending space for the knuckles, so that the driving finger 7 can be bent effectively, effectively increasing the driving force. The bending range of each knuckle on the finger 7.
所述手掌基座6的背部设置为与人体手背相吻合的曲面。The back of the palm base 6 is set as a curved surface matching the back of the human hand.
如图6所示，所述手掌基座6的掌心处设有薄片26，薄片26与手掌基座6之间配合形成与人体手部相适配的收纳腔。As shown in FIG. 6 , a sheet 26 is provided at the center of the palm of the palm base 6 , and the sheet 26 cooperates with the palm base 6 to form a storage chamber that is suitable for the human hand.
如图2、图3、图4和图5所示，所述手掌基座6上设有第一转轴连接块27，所述指根块9上设有与第一转轴连接块27配合的第二转轴连接块28，所述第三连杆14的端部设有第三连杆圆头29，所述第一转轴连接块27、第二转轴连接块28和第三连杆圆头29经第一转轴31固定；所述第一连杆12的两端均设有第一连杆夹头32，所述指尖块11上设有第一铰接块33，所述第一铰接块33与第一连杆12一端的第一连杆夹头32之间经第二转轴34固定；所述指中块10上设有第二铰接块35，所述第二连杆13的一端设有第二连杆夹头36，所述第二连杆13的另一端设有第二连杆圆头37，所述第二连杆圆头37与第一连杆12另一端的第一连杆夹头32经第三转轴38固定，如图8所示，所述第二连杆圆头37上设有圆形的通孔40，所述第三转轴38穿设在通孔40内，且第三转轴38的两端与第二连杆圆头38连接，其中第三转轴38与通孔40之间(即第三转轴38至第二连杆圆头37的内壁之间)留有缓冲空间，使得第三转轴38能够在通孔40内移动，在驱动舵机17启动带动欠驱动机构8运动时，因为第三转轴38与通孔40之间留有缓冲空间，使得第三转轴38在通孔40内移动，此时驱动舵机17属于空载启动状态，相对于驱动舵机17负载启动，驱动舵机17空载启动有效地降低了驱动舵机17的启动功率，从而降低了驱动舵机17的开机启动损耗，延长了驱动舵机17的使用寿命。另外，在第二连杆13带动第一连杆12运动时，运动的第三转轴38与第二连杆圆头37发生碰撞，从而加大了第二连杆13对第一连杆12的瞬间作用力，便于带动指尖块11运动，有效的避免了因指中块10与指尖块11的铰接处堆积有灰尘等异物发生抵触，使得指尖块11转动困难现象的发生。本发明中的第一连杆12和第二连杆13之间采用此种铰接机构进行铰接，使得驱动舵机17属于空载启动状态，有效地降低了驱动舵机17的开机启动损耗，延长了驱动舵机17的使用寿命，同时大大方便了指尖块11的运动，所述第二连杆夹头36与第二铰接块35经第四转轴39固定。其中第三连杆14和第四连杆15之间也可采用第一连杆12与第二连杆13之间相同的铰接结构，可取得相同的效果。As shown in Figure 2, Figure 3, Figure 4 and Figure 5, the palm base 6 is provided with a first rotating shaft connection block 27, and the finger base block 9 is provided with a first rotating shaft connecting block 27 to cooperate with. Two rotating shaft connecting blocks 28, the end of the third connecting rod 14 is provided with a third connecting rod round head 29, the first rotating shaft connecting block 27, the second rotating shaft connecting block 28 and the third connecting rod round head 29 are The first rotating shaft 31 is fixed; both ends of the first connecting rod 12 are provided with a first connecting rod clamp 32, and the fingertip block 11 is provided with a first hinge block 33, and the first hinge block 33 is connected to the first hinge block 33. Between the first connecting rod chuck 32 of one end of the first connecting rod 12, the second rotating shaft 34 is fixed; Two connecting rod chucks 36, the other end of the second connecting rod 13 is provided with a second connecting rod round head 37, and the second connecting rod round head 37 is connected with the first connecting rod clamp at the other end of the first connecting rod 12. The head 32 is fixed through the third rotating shaft 38. As shown in FIG. Both ends of the three rotating shafts 38 are connected to the second connecting rod round head 38, wherein there is a buffer space between the third rotating shaft 38 and the through hole 40 (that is, between the third rotating shaft 38 and the inner wall of the second connecting rod round head 37) , so that the third rotating shaft 38 can move in the through hole 40, when the driving steering gear 17 starts to drive the under-actuated mechanism 8 to move, because there is a buffer space between the third rotating shaft 38 and the through hole 40, the third rotating shaft 38 is in the Move in the through hole 40, and now the driving steering gear 17 belongs to the no-load start state. Compared with the driving steering gear 17 load starting, the no-load starting of the driving steering gear 17 effectively reduces the starting power of the driving steering gear 17, thereby reducing the driving force. The start-up loss of the steering gear 17 prolongs the service life of the driving steering gear 17. In addition, when the second connecting rod 13 drives the first connecting rod 12 to move, the moving third rotating shaft 38 collides with the round head 37 of the second connecting rod, thereby increasing the contact between the second connecting rod 13 and the first connecting rod 12. The instantaneous force is convenient to drive the fingertip block 11 to move, and effectively avoids the occurrence of foreign matter such as dust accumulated at the hinge of the middle finger block 10 and the fingertip block 11, which makes it difficult for the fingertip block 11 to rotate. The first connecting rod 12 and the second connecting rod 13 in the present invention are articulated by using such a hinge mechanism, so that the driving steering gear 17 belongs to the no-load starting state, which effectively reduces the starting loss of the driving steering gear 17 and prolongs the life of the driving steering gear. The service life of the driving steering gear 17 is improved, and the movement of the fingertip block 11 is greatly facilitated at the same time. The second connecting rod chuck 36 and the second hinge block 35 are fixed through the fourth rotating shaft 39 . The same hinge structure between the first connecting rod 12 and the second connecting rod 13 can also be used between the third connecting rod 14 and the fourth connecting rod 15 to achieve the same effect.
其中，指尖块11、第二转轴34、指尖块11与指中块10之间的铰接轴三点之间组成一个三角形，改三角形为第一欠驱动结构，其依靠第一连杆12通过第二转轴34提供动力，以指尖块11与指中块10之间的铰接轴为轴心进行旋转；Among them, the fingertip block 11, the second rotating shaft 34, the hinge shaft between the fingertip block 11 and the middle finger block 10 form a triangle, and the triangle is changed into a first under-actuated structure, which relies on the first connecting rod 12 The power is provided by the second rotating shaft 34, and the hinge axis between the fingertip block 11 and the middle finger block 10 is used as the axis to rotate;
其中，第一连杆12、第二转轴34和第三转轴38之间组成第一驱动连杆，由第一连杆12为指尖块11提供动力；Wherein, the first connecting rod 12, the second rotating shaft 34 and the third rotating shaft 38 form a first driving connecting rod, and the first connecting rod 12 provides power for the fingertip block 11;
其中指中块10，指尖块11与指中块10之间的铰接轴、第四转轴39、指中块10与指根块9之间的铰接轴四者之间构成第二驱动连杆，其由第二连杆13通过第四转轴39提供动力，以指中块10与指根块9之间的铰接轴为轴心进行旋转，力由指尖块11与指中块10之间的铰接轴传递给指尖块11，同时力又由指中块10与指根块9之间的铰接轴传递给指根块9；Among them, the middle finger block 10, the hinge shaft between the fingertip block 11 and the middle finger block 10, the fourth rotating shaft 39, and the hinge shaft between the middle finger block 10 and the root block 9 constitute the second drive link. , which is powered by the second connecting rod 13 through the fourth rotating shaft 39, and rotates around the hinge shaft between the middle finger block 10 and the finger base block 9 as the axis, and the force is generated between the fingertip block 11 and the middle finger block 10 The hinge shaft of the finger is transmitted to the fingertip block 11, and at the same time, the force is transmitted to the finger base block 9 by the hinge shaft between the middle finger block 10 and the finger base block 9;
其中第二连杆13、第四转轴39、第三转轴38三者之间构成第二欠驱动结构，力由第三转轴38传递给第一连杆12，由第四转轴39传递给指中块10；Among them, the second connecting rod 13, the fourth rotating shaft 39, and the third rotating shaft 38 form a second under-actuated structure, and the force is transmitted from the third rotating shaft 38 to the first connecting rod 12, and from the fourth rotating shaft 39 to the middle of the finger. block 10;
其中，指根块9，指中块10与指根块9之间的铰接轴，第一转轴31三者之间构成第三驱动连杆，其依靠指中块10通过指中块10与指根块9之间的铰接轴提供动力，以第一转轴31为轴心进行旋转；Among them, the third drive link is formed between the finger root block 9, the hinge shaft between the finger middle block 10 and the finger root block 9, and the first rotating shaft 31. The articulated shaft between the root blocks 9 provides power and rotates around the first rotating shaft 31;
其中，第四连杆15，第四连杆15与第二连杆13之间的铰接轴，第三连杆14与第四连杆15之间的铰接轴三者之间构成第四驱动连杆，力由第四连杆15与第二连杆13之间的铰接轴传递给第二连杆13；Wherein, the fourth connecting rod 15, the hinge shaft between the fourth connecting rod 15 and the second connecting rod 13, and the hinge shaft between the third connecting rod 14 and the fourth connecting rod 15 constitute the fourth drive link. Rod, the force is transmitted to the second connecting rod 13 by the hinge shaft between the fourth connecting rod 15 and the second connecting rod 13;
其中，第三连杆14，第一转轴31，第三连杆14与第四连杆15之间的铰接轴三者之间构成第五驱动连杆，力由第三连杆14与第四连杆15之间的铰接轴传递给第四连杆15，最后由驱动舵机17连接的第五连杆18与第四连杆15的中端铰接来为整套机构提供动力，本发明通过一个驱动舵机17来对带动连杆之间的连动，来同时带动指根块9、指中块10和指尖块11，使得驱动手指7作出弯曲手势，具有结构简单、同步性高的特点。Wherein, the third connecting rod 14, the first rotating shaft 31, the hinge shaft between the third connecting rod 14 and the fourth connecting rod 15 constitute the fifth driving connecting rod, and the force is composed of the third connecting rod 14 and the fourth connecting rod. The hinge shaft between the connecting rods 15 is transmitted to the fourth connecting rod 15, and finally the middle end of the fifth connecting rod 18 connected by the driving steering gear 17 is hinged with the middle end of the fourth connecting rod 15 to provide power for the whole set of mechanisms. Drive the steering gear 17 to drive the linkage between the connecting rods to simultaneously drive the root block 9, the middle block 10 and the fingertip block 11, so that the driving finger 7 makes a bending gesture, which has the characteristics of simple structure and high synchronization .
欠驱动机械手本体2中的驱动手指7的工作原理如图7所示，以三关节欠驱动手指抓取物体时的封闭顺序为例，揭示欠驱动手指抓取的基本的工作原理：The working principle of the driving finger 7 in the underactuated manipulator body 2 is shown in Figure 7. Taking the closing sequence of the three-joint underactuated finger when grasping an object as an example, the basic working principle of the underactuated finger grasping is revealed:
a、手指处于初始状态，没有作用力，指根关节向物体接近。a. The finger is in the initial state, there is no force, and the knuckles of the knuckles are approaching the object.
b、当指根接触物体，产生约束作用。b. When the root of the finger touches the object, it produces a restraining effect.
c、指中和指尖关节继续接近物体。c. The middle finger and fingertip joints continue to approach the object.
d、指中关节指面和物体接触，并产生约束作用。d. The finger surface of the middle finger joint is in contact with the object and produces a restraint effect.
e、指尖关节指面完全和物体接触，驱动元件的作用力都加在物体上。当驱动连续转动时，手指完全闭合约束物体，产生抓持作用力。e. The fingertip joint finger surface is completely in contact with the object, and the force of the driving element is all added to the object. When the drive rotates continuously, the fingers are completely closed to constrain the object, generating a gripping force.
在上述原理中还需解释，手指处于初始状态时，为达到指根关节先运动而不是指尖关节的目的，可用摩擦力解释，在每个关节处都具有一定且适当的摩擦力，以至指尖关节运动需要克服指尖关节摩擦力、指中关节摩擦力、指根关节摩擦力，而指中关节运动需要克服指中关节摩擦力、指根关节摩擦力，最后指根关节需要运动只需客克服指根关节摩擦力。故指根关节摩擦力最小，在运动时最先运动，该运动包括夹紧运动和松开运动；同理，指中关节第二个进行运动；同理，指尖关节最后运动。解释摩擦力之后，还需确定单个指节须有最大行程，否则导致只有一个指节运动，其他指节不运动；当该指节达到最大行程时，产生约束，减少一个自由度，使下一指节运动。其自由度计算见下文。In the above principle, it needs to be explained that when the fingers are in the initial state, in order to achieve the purpose of moving the root joints first instead of the fingertip joints, it can be explained by friction force. There is a certain and appropriate friction force at each joint, so that the fingers The movement of the tip joint needs to overcome the friction force of the fingertip joint, the friction force of the middle finger joint, and the friction force of the root joint, and the movement of the middle finger joint needs to overcome the friction force of the middle finger joint and the friction force of the root joint. Finally, the root joint needs to move only To overcome the friction force of knuckles. Therefore, the finger root joint has the smallest friction force and moves first during exercise, which includes clamping and loosening motions; similarly, the middle finger joint moves second; similarly, the fingertip joint moves last. After explaining the friction force, it is also necessary to determine that a single knuckle must have the maximum travel, otherwise only one knuckle moves and the other knuckles do not move; when the knuckle reaches the maximum travel, constraints are generated, one degree of freedom is reduced, and the next knuckle Knuckle movement. See below for the calculation of degrees of freedom.
本文的欠驱动机械手概念模型的手指，每个手指3节，每个手指三自由度，其中对于多关节欠驱动手指，它的自由度计算为：假设具有n个关节的欠驱动手指，那么它是由n-1个四边形构成的，每个四边形关节是三个连杆构成有一个杆和相邻关节的四边形是公用的，第一个关节多出1个连杆，再加上推杆部分2个连杆，总共的连杆数是3(n-1)+3这里三角形看成是刚性结构，计算为一个连杆，每个关节的三个连杆有4个低副，P＝4(n-1)，加上推杆部分4个低副，低副的总数4(n-1)+4。那么，手指的自由度为n：The fingers of the conceptual model of the underactuated manipulator in this paper have 3 joints and three degrees of freedom for each finger. For a multi-joint underactuated finger, its degrees of freedom are calculated as: Assuming an underactuated finger with n joints, then it It is composed of n-1 quadrilaterals. Each quadrilateral joint is composed of three connecting rods. The quadrilaterals with one rod and adjacent joints are common. The first joint has one more connecting rod, plus the push rod part 2 connecting rods, the total number of connecting rods is 3(n-1)+3 Here, the triangle is regarded as a rigid structure, which is calculated as one connecting rod, and the three connecting rods of each joint have 4 lower pairs, P=4 (n-1), plus 4 low pairs in the putter part, the total number of low pairs is 4(n-1)+4. Then, the degrees of freedom of the fingers are n:
dof＝3m-2PL-PH＝3(3(n-1)+3)-2×(4(n-1)+4)＝9n-8n＝ndof= 3m-2PL-PH =3(3(n-1)+3)-2×(4(n-1)+4)=9n-8n=n
所以一开始手指为触碰物体时，自由度为3，手指的运动不为完全固定，只是在摩擦力的原因下会各指节依次运动，但若指节行程未完全而碰触物体将会使此指节停止运动，产生约束，减少一个自由度，下一指节继续运动；直到当手指抓紧物体时自由度为0，故能夹紧物体。Therefore, when the finger touches an object at the beginning, the degree of freedom is 3, and the movement of the finger is not completely fixed, but the knuckles will move sequentially due to the friction force, but if the knuckle stroke is not complete and the object will be touched Make this knuckle stop moving, create constraints, reduce one degree of freedom, and continue to move the next knuckle; until the degree of freedom is 0 when the finger grasps the object, it can clamp the object.
工作原理：本发明通过设置可穿戴的感应手套本体1、欠驱动机械手本体2和控制模块3，通过感应手套本体1作出相应的抓取手势，则设置在感应手套本体1上的电阻式弯曲传感器5则对感应手套本体1中的每个手指的弯曲度进行监测，并将监测的弯曲度数据信息传递给控制模块3，控制模块3则根据接收到的弯曲度数据信息对欠驱动机械手本体2进行相应的控制，使得欠驱动机械手本体2作出相应的操作者通过与感应手套本体1作出的抓取手势，在欠驱动机械手本体2工作时，控制模块3对驱动舵机进行控制，则驱动舵机17通过第五连杆18带动第三连杆14转动，第三连杆14则通过第四连杆15带动第二连杆13转动，则转动的第二连杆13带动第一连杆12转动，从而实现指根块9、指中块10和指尖块11的转动，从而实现驱动手指7作出弯曲手势，来对物体进行抓取。Working principle: the present invention sets the wearable sensing glove body 1, the underactuated manipulator body 2 and the control module 3, and makes a corresponding grabbing gesture through the sensing glove body 1, then the resistive bending sensor set on the sensing glove body 1 5 monitors the curvature of each finger in the sensing glove body 1, and transmits the monitored curvature data information to the control module 3, and the control module 3 controls the underactuated manipulator body 2 according to the received curvature data information. Carry out corresponding control so that the underactuated manipulator body 2 makes a corresponding grasping gesture made by the operator through the induction glove body 1. When the underactuated manipulator body 2 is working, the control module 3 controls the driving steering gear, and then drives the rudder The machine 17 drives the third connecting rod 14 to rotate through the fifth connecting rod 18, and the third connecting rod 14 drives the second connecting rod 13 to rotate through the fourth connecting rod 15, and then the rotating second connecting rod 13 drives the first connecting rod 12 The rotation realizes the rotation of the finger base block 9 , the middle finger block 10 and the fingertip block 11 , thereby realizing driving the finger 7 to make a bending gesture to grab an object.
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910712030.8ACN110328678B (en) | 2019-08-02 | 2019-08-02 | An underactuated manipulator with human-hand synchronization control function |
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910712030.8ACN110328678B (en) | 2019-08-02 | 2019-08-02 | An underactuated manipulator with human-hand synchronization control function |
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| CN110328678Atrue CN110328678A (en) | 2019-10-15 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201910712030.8AActiveCN110328678B (en) | 2019-08-02 | 2019-08-02 | An underactuated manipulator with human-hand synchronization control function |
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| CN (1) | CN110328678B (en) |
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| CN114083544B (en)* | 2022-01-21 | 2022-04-12 | 成都市皓煊光电新材料科技研发中心有限公司 | Method and device for controlling movement of hand-shaped equipment, hand-shaped equipment and storage medium |
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| Publication number | Publication date |
|---|---|
| CN110328678B (en) | 2024-11-26 |
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