Activation lacking mechanical finger device capable of preventing form and position degradation

A mechanical finger and underactuated technology, applied in the field of robotics, can solve the problems of grasping stability, stress change optimization, etc., and achieve the effect of light weight, reliable operation and small size

Inactive Publication Date: 2008-03-05
ZHEJIANG SCI-TECH UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, Laval University in Canada only considered the basic structure of the under-actuated hand, and did not optimize the stability of the grip and the stress change of the grip.

Method used

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  • Activation lacking mechanical finger device capable of preventing form and position degradation
  • Activation lacking mechanical finger device capable of preventing form and position degradation

Examples

Experimental program
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Effect test

Embodiment Construction

[0018] The present invention will be further described below in conjunction with drawings and embodiments.

[0019] As shown in Fig. 1 and Fig. 2, the present invention includes a first knuckle 1, a second knuckle 2, a torsion spring 3, a fixed base 4, a buffer device, a connecting rod 7, a driving rod 8 and a one-way rotation device; One end of the second knuckle 2 is provided with a groove and a pin shaft is housed, and the pin shaft is covered with a torsion spring 3 and is hinged with the grooved end at the bottom of the first triangular knuckle 1, and one end of the torsion spring 3 is fixed on the first knuckle The other end of the torsion spring 3 is fixed on the second knuckle, the other end of the second knuckle 2 is hinged with one end of the fixed base 4 through another pin, and the other end of the bottom of the triangular first knuckle 1 is connected to the buffer One end of the device is hinged, the other end of the buffer device is hinged to the first corner of ...

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PUM

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Abstract

The present invention discloses one kind of under-driven mechanical finger device capable of preventing form degeneration. The device includes one first finger knuckle, one second finger knuckle hinged to the first one, one torsional spring installed to the second finger knuckle, one fixed base hinged to the second finger knuckle, one connecting rod, one buffer installed between the first finger knuckle and the connecting rod, one driving rod and one unidirectional rotation unit installed between the second finger knuckle and the fixed base. The under-driven mechanical finger device is used in flexible grapping manipulator, and has simple structure, reliable operation, small size, light weight and no need of additional control system overhead.

Description

technical field [0001] The invention relates to robot technology, in particular to an underactuated mechanical finger device capable of preventing form and position degradation. Background technique [0002] Usually, the condition for the normal operation of the general mechanism is that the number of drivers is equal to the number of degrees of freedom of the mechanism itself, that is, the so-called full drive mode, such as common 6-degree-of-freedom industrial robots have 6 motors. When the number of actuators of the mechanism is less than the number of degrees of freedom of the mechanism itself, but the dynamic constraints of the mechanism itself can work normally, this type of mechanism is called an underactuated mechanism. The fingers of a multi-fingered hand usually have several joints, and the number of joints is equal to the number of degrees of freedom of the finger mechanism. In the full-actuation mode, each joint of the finger must be equipped with a driver; in th...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J15/00B25J19/00
Inventor 胡挺李秦川武传宇胡旭东蒋焕煜应义斌
Owner ZHEJIANG SCI-TECH UNIV
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