Technology and life: starting with solar cars

Chapter 109

After talking about the opening and clenching of the robotic palm, we will talk about other functions of the palm, such as the movement of a single finger of the robotic palm. The precise control of each finger, rather than the general control like controlling the extension and contraction of the mechanical palm into a fist, so more mechanical design is necessary to control each finger of the entire mechanical palm .At this time, it is necessary to design each finger. Although the designs are similar, the amount of work is still quite troublesome.

Not only the large number of fingers leads to a large amount of design engineering, but also because of the differences of each finger, the design of each finger is very similar in the general direction, but there will be some differences in the design of the details in small aspects. The place.Take the middle finger and index finger of the human body as an example. The middle finger and index finger of the human body are composed of three joints. There is no problem in the number of joints, but the length of each joint is obviously different. At this time, when designing the mechanical finger Different joints need to be designed differently, and the ultimate goal of the design is naturally to make the joints of each finger perfectly simulate the movement of human fingers.Fingers with the same number of joints require different designs, and those with different joints certainly have different designs.Take the index finger and the thumb of the human body as an example. It is obvious that the thumb of the human body has only 2 joints, while the index finger of the human body has 3 joints. It is obvious that the number of joints of the index finger is one more than that of the thumb In this case, it is definitely necessary to design a different design in order to design a mechanical finger that meets the requirements.

Liu Yun's plan is to put a compressed spring in the joint of each finger, but this spring is fixed inside the joint and will not exceed the position of the joint.Why let the spring in this joint be compressed? Obviously, it is to give a tension to the joint, so that two adjacent joints will repel, and the final result of the repulsion is to cause the joint and the joint to bend, which means that each The mechanical finger is contracted in the absence of external force, and contraction here means bending rather than stretching.When there is no external force, the position of the mechanical finger fits the position of the mechanical palm, and the mechanical finger and the mechanical palm fit together, which is equivalent to realizing the fisting action of the mechanical palm without any movement, so that each finger It can be said that the initial state of this design method is the fisting action of the mechanical palm, but because Liu Yun intends to change the initial state of the mechanical palm into a stretching action, it is necessary to control each movement of the mechanical fingers. To change the state of the root finger, it is necessary to shrink the joints of each mechanical finger.Because only by shrinking the mechanical joints can the tension brought by the internal springs of the mechanical joints be offset, so that each mechanical joint is at the same horizontal position. At this time, some simple designs for the mechanical fingers have been completed.Only by specifying different solutions for each mechanical finger, can the separate control of the mechanical fingers be better realized, and the separate control of the mechanical fingers is very important, which means that the mechanical fingers can be as flexible as human fingers. control.

In fact, the operator can further subdivide the control of each finger, such as giving the same finger a different force, as long as the given force is appropriate, the finger can be in any position between stretching and making a fist.It is precisely because the bending degree of the fingers can be adjusted at will that the state of the human fingers can be more realistically simulated.For example, the index finger, take the index finger as an example.If the last joint of the index finger remains unchanged and remains on the same level as the palm, at this time we stretch the mechanical index finger, and the mechanical index finger will gradually stretch the two front joints under the action of the stretching force. When the mechanical index finger When the middle joint of the index finger is perpendicular to the last joint, we can regard it as the transitional state of the mechanical finger, and the state where the mechanical finger is fully contracted can be called the final state, and the state where the mechanical finger is fully extended and the mechanical palm is horizontal can be called It is the initial state, which is also the initial position of the mechanical hand, and the mechanical finger is in this state when the mecha is first powered on.In order to simplify the production of Mecha 1.0, these three states are temporarily specified. The control center will shrink the wire rope according to the length of each joint, and the length of the wire rope and the length of contraction in each state need to be measured separately. After the same state of each finger is measured, the data is recorded in the control center, and the control center issues different commands to the pinion next to the mechanical finger according to the recorded data, and the pinion next to the mechanical finger will first shrink to a certain extent, This level has reached the transition state set in advance, that is, the state where the middle joint is perpendicular to the third joint.When the gear next to the mechanical finger continues to shrink, the length of the wire rope continues to shorten. At this time, the three joints of the mechanical finger are pulled by the wire rope and the palm is in a horizontal position, which means that the mechanical palm is fully stretched at this time. .

For the current Mecha 1.0, only three states of the mecha fingers are set. It does not mean that it is impossible to add more states of the mechanical fingers, but at present, because it is the Mecha 1.0 version, there is no need to design so many states.Moreover, for a person who has never operated a mecha before, it is not conducive to quickly learn to control the mecha because of the complicated operation at the beginning.Therefore, in the future mecha, Liu Yun plans to set up several more modes. These modes range from simple to normal to difficult. The so-called simple mode is designed for those beginners, so that those who use the mecha for the first time can learn more quickly. Familiar with the operation of the mecha.After the user is more proficient in the simple mode of the mecha, he can choose the general mode. In the general mode of the mecha, the fingers, upper arms, and forearms of the mecha will have more action states. At this time, the arms of the mecha can be It is said that the arms of the human body are not much different. They can already perform various actions, and even due to the hardness of the mecha material, they can do more damage than humans.

After mastering the normal mode of the mecha, it is the hard mode of the mecha. The so-called hard mode is a mode that exceeds the movements of the human body itself. In this mode, various actions that humans cannot complete, such as turning the head 360 degrees, can be realized.

However, in the current version 1.0, Liu Yun doesn't intend to make it so troublesome, just leave a simple mode.

(End of this chapter)