在机器人手中实现类似人类的掌握:力协同作用的机械实现
Zhicheng Teng1, Guanghua Xu1, Jinju Pei1
1School of Mechanical Engineering, Xi'an Jiaotong University, Xi'an, People's Republic of China.
Bioinspiration & biomimetics
|April 5, 2024
概括
这项研究介绍了一种由人类力量协同作用所启发的新型机器人手传动系统,简化了多指手控制. SYN手机械地实现了这些协同作用,使得像人类一样的力量分配能够抓住各种各样的物体.
科学领域:
- 机器人技术 机器人技术 机器人技术
- 生物力学 生物力学
- 控制系统 控制系统
背景情况:
- 传统的机器人手依赖于复杂的机械和指力协调的控制.
- 人类的运动控制利用力量协同作用,以实现高效和可适应的手动.
- 在机器人技术中实施生理学原理可以导致更直观和更有能力的系统.
研究的目的:
- 设计和实施一种基于人类力量协同作用的多指手机械手的新型传输系统.
- 通过机械实现力调制来简化机器人手的控制.
- 调查力量协同作用的潜力,以实现类似人类手指的力量分布.
主要方法:
- 在同位度抓取任务中收集人类手指力数据.
- 从人类数据中提取的力协同效应 (权重和激活系数).
- 通过使用带有弹的滑动器和V形杆的电缆驱动变速器实现了两种力量协同作用,驱动SYN机器人手.
主要成果:
- 开发的传动系统成功地驱动了五指SYN机器人手.
- 这只SYN手展示了它能够抓住各种各样的日常物体的能力.
- 机器人手实现了指力分布,接近于人类手在典型任务中的性能.
结论:
- 这项研究介绍了机器人手中的第一个力协同作用的机械实现,用于手指力调制.
- 拟议的系统通过使用位置控制来简化控制,以实现类似人类的力比,避免复杂的传感器或策略.
- 这些发现为设计人形机器人手提供了有希望的替代方案,可用于假肢和外骨.
相关概念视频
01:23Simplification of a Force and Couple System: II
282
In a three-dimensional system, multiple forces can act on an object. These forces can be combined into a single equivalent force, known as the resultant force. Similarly, the moments generated by these forces can be combined into a single equivalent moment, the resultant couple moment. In certain situations, these two entities may not be mutually perpendicular, meaning they do not have a 90-degree angle between them. This unique condition requires a deeper understanding of the interplay between...
282
01:22Mechanical Systems
193
Mechanical systems are analogous to to electrical networks where springs and masses play similar roles to inductors and capacitors, respectively. A viscous damper in mechanical systems functions similarly to a resistor in electrical networks, dissipating energy. The forces acting on a mass in such systems include an applied force in the direction of motion, counteracted by forces from the spring, a viscous damper, and the mass's acceleration. This interplay of forces is mathematically...
193
01:27Support Reactions in Three Dimensions
962
Support reactions in three dimensions help maintain the stability and equilibrium of various structures and systems. These reactions prevent the system from translating and rotating, ensuring the design can withstand external forces and perform its intended function efficiently and safely. Some of the supports providing support reactions in three dimensions are discussed below:
Ball and Socket Joint is one of the supports allowing free rotation about any axis. This freedom of rotation is...
Ball and Socket Joint is one of the supports allowing free rotation about any axis. This freedom of rotation is...
962
01:19Machines
270
Machines are complex structures consisting of movable, pin-connected multi-force members that work together to transmit forces. One example of a machine is the cutting plier, which is used to cut wires by applying forces to its handles. When equal and opposite forces are exerted on the handles of the cutting plier, they cause the cutting edges to come together and apply equal and opposite reaction forces on the wire, which are greater than the applied forces.
A free-body diagram of the...
A free-body diagram of the...
270
01:30Three-Dimensional Force System:Problem Solving
666
A three-dimensional force system refers to a scenario in which three forces act simultaneously in three different directions. This type of problem is commonly encountered in physics and engineering, where it is necessary to calculate the resultant force on the system, which can then be used to predict or analyze the behavior of the object or structure under consideration.
To solve a three-dimensional force system, first resolve each force into its respective scalar components. Do this using...
To solve a three-dimensional force system, first resolve each force into its respective scalar components. Do this using...
666
01:30Three-Dimensional Force System
2.0K
In mechanical engineering, a three-dimensional force system is a system of forces acting in three dimensions, with forces applied along the x, y, and z coordinate axes. The three-dimensional force system is an important concept in mechanical engineering, as it allows engineers to understand and analyze the behavior of objects and structures in three dimensions. By understanding the forces acting on a system, engineers can design more efficient and effective mechanical systems that can withstand...
2.0K