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Underactuated drive finger device of imitating cascaded connection of hand of robot

A robot and anthropomorphic technology, applied in the field of anthropomorphic robots, can solve the problems of limited adaptability of objects of different shapes and sizes, and the inability of the third finger segment to rotate. Effect

Inactive Publication Date: 2007-10-10
TSINGHUA UNIV
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  • Abstract
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Problems solved by technology

[0005] The disadvantages of these devices are: although both devices can realize the underactuation of multiple knuckles in a direct series connection, due to the limitation of their realization principle, the terminal joint must be driven by the second finger segment before it can drive the third knuckle. Finger section, if the shape of the object is not enough to force the second finger section, the third finger section will not be able to achieve rotation, and the adaptability to objects of different shapes and sizes is limited
At the same time, considering the actual situation of human fingers, the end joints usually rotate synchronously with the middle joints, and the rotation angles of the two have a certain synergistic effect, and neither device can satisfy this effect

Method used

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  • Underactuated drive finger device of imitating cascaded connection of hand of robot
  • Underactuated drive finger device of imitating cascaded connection of hand of robot
  • Underactuated drive finger device of imitating cascaded connection of hand of robot

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Embodiment Construction

[0044] Principle of the present invention, embodiment are described in detail below in conjunction with accompanying drawing:

[0045]1 to 7 are structural schematic diagrams of an embodiment of a cascaded underactuated finger device for a robot anthropomorphic hand provided by the present invention. It mainly includes the first finger segment 1, the second finger segment 2 and the third finger segment 3, the cascaded underactuated joint 4 set in the first finger segment 1, the second finger segment 2, and the third finger segment 3, the stage The under-actuated joint includes active slider 5, rack 41, compression spring 42, middle joint gear shaft 43, double gear shaft 44, pinion shaft 45, end joint shaft 46, synchronous belt lower wheel 47, synchronous belt upper wheel 48, timing belt 49, first torsion spring 410; the active slider 5 is embedded in the first finger section 1, and the compression spring 42 is arranged between the first finger section 1 and the active slider 5...

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Abstract

A cascaded under-driven artificial finger of robot for simulating human finger has an active slide block inlaid in the first finger segment, a middle joint with the gear axle between the first and second finger segments and fixed to the second finger segment and the gear engaged with rack bar, the small and big gears on a single axle which along with two gear axles of middle joint are on the first finger segment, a synchronizing belt with lower gear fixed to small gear axle and upper gear fixed to the final joint axle on the second finger segment, and the third finger segment on the final joint axle.

Description

technical field [0001] The invention belongs to the technical field of anthropomorphic robots, and in particular relates to a structural design of a robot anthropomorphic hand cascade underactuated 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. Designing a shape-a...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J15/08
Inventor 田磊张文增陈强都东孙振国
Owner TSINGHUA UNIV
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