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Tendon-channel under-driven mechanical finger device

A mechanical finger and underactuated technology, which is applied in the field of anthropomorphic robots, can solve the problems of large palm mass, difficult processing, and high energy consumption, and achieve the effects of short movement distance, strong adaptability, and reduced control accuracy

Inactive Publication Date: 2007-08-29
TSINGHUA UNIV
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  • Abstract
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  • Claims
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AI Technical Summary

Problems solved by technology

[0006] The disadvantages of this device are: the device adopts rack and pinion transmission, the device is more complicated, the quality of the palm is larger, and the energy consumption is higher
In order to achieve a good under-actuation effect, that is, to achieve a large angle of rotation of the second finger segment, the gear used must have a small radius, which is difficult to process and high in cost
Moreover, the rack and pinion mechanism needs good lubrication and sealing, and the use cost is relatively high

Method used

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  • Tendon-channel under-driven mechanical finger device

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Embodiment Construction

[0051] The content of the specific structure and working principle of the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments.

[0052] An embodiment of a tendon underactuated mechanical finger device designed by the present invention, the appearance of which is shown in Figures 1 and 2. The principle is shown in Figures 3, 4, and 5. The device includes a first finger segment 1, a second finger segment 2, and an underactuated joint 3 nested between the two finger segments. The underactuated joint includes a joint axis 13. Active slider 4, tendon rope 14 and torsion spring 15, the joint shaft is installed on the first finger section, the second finger section is sleeved on the joint shaft, one end of the tendon rope is connected to the second finger section The end of the first finger section is affixed, and the other end passes through the upper part of the first finger section and is affixed to the lower pa...

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Abstract

The invention relates to tendon link under-actuated mechanical finger device which includes the first and second finger sections, under-actuated joint. The under-actuated joint includes joint axis, drive slider, tendon line, and spring piece. The joint axis is set at the first finger section. The second one is set at the joint axis. One end of the tendon line is fixed at the end of the second finger section. Another end is passed through the upper of the first one and connected with its lower. The drive slider is embedded in the first finger section and touched with the tendon line. The spring piece is set between the first and second knuckles. The device can be used as impersonated one finger or parts, or connected in series to form high under-actuated finger. The device has the advantages of simple, reliable structure, little volume, light weight, low control system demand.

Description

technical field [0001] The invention belongs to the technical field of humanoid robots, and in particular relates to the structural design of a tendon underactuated mechanical finger device. Background technique [0002] Similar to humans, most functions of anthropomorphic robots are realized through hand manipulation, so the hand structure is an important part of anthropomorphic robots, and its design is one of the key technologies of anthropomorphic robots. In order to increase the anthropomorphism of the hand, more joint degrees of freedom should be designed for the hand. However, in order to reduce the control difficulty of the anthropomorphic robot hand, as well as reduce the volume and weight of the hand, it is necessary to reduce the number of drivers. Certain contradictions, in addition, in order to better grasp the object, it is also necessary for the finger to have a certain degree of adaptability when grasping the object. The design of tendon underactuated mechan...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J15/08
CPCB25J15/0009
Inventor 张文增叶雨明陈强都东孙振国
Owner TSINGHUA UNIV
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