Simulative mechanical hand with under-driven adaptive mechanism

Abstract

The invention relates to an analog robot, comprising the elastic lever structure and the finger gap difference structure. The finger structure part introduces the length changeable spring lever structure, realizing self adaptation to random article surface, getting rid of the insufficient flexibility of the middle finger, through gear or rack to drive the rotary movement of the motor to linear movement, one end of the active rack connected to a gear, which is teething with two passive racks simultaneously and two passive racks connected to fingers to complete the grasp of the finger through the back and forth movement of the passive racks to as to improve the force distribution between fingers with less power loss and for the benefit of robot miniaturization.

Description

technical field [0001] The invention relates to an anthropomorphic manipulator with an under-actuated self-adaptive mechanism, which adopts a length-variable finger elastic rod mechanism and an inter-finger differential mechanism to realize under-actuated self-adaptive grasping of the manipulator, and belongs to the field of mechanical technology. Background technique [0002] At present, anthropomorphic manipulators generally adopt the design idea close to dexterous hands, and use the latest technological achievements in the fields of motors, electronics, and sensors to achieve multi-degree-of-freedom and multi-sensing prosthetic hands, thereby maximizing the flexibility and operability of the prosthetic hand. The disadvantages are: the size and weight of the prosthetic hand are relatively large, it is very difficult to realize, and the price is very expensive. [0003] After a literature search of the prior art, it was found that the University of Toronto in Canada propose...

AI Technical Summary

Problems solved by technology

The final length of the elastic rod is determined by the surface shape of the grasped object, so that the bending shape of the finger is consistent with the surface of the grasped object, and the adaptive envelope of a single finger on the surface of any object can be realized, which overcomes the lack of finger flexibility in the prior art Disadvantages; the differential mechanism part first converts the rotary motion output by the drive motor into linear motion through the gear-rack mechanism. One end of the active rack is connected to a gear, and the gear meshes with two passive racks at the same time, and the two passive racks The racks are finally connected to the fingers, and the forward and backward movement of the passive racks can drive the fingers to complete the grasping action, thereby realizing the underactuation between the fingers, that is, one motor drives two fingers to move

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