Belt wheel multi-joint high under-driven robot finger device

A robot finger and multi-joint technology, which is applied in the field of humanoid robots, can solve the problems of complex multi-link mechanism devices, differences in the appearance of fingers, and high manufacturing costs, and achieve the effects of light weight, easy installation and maintenance, and low cost

Inactive Publication Date: 2008-07-09
TSINGHUA UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0004] The disadvantages of this device are: multiple link mechanism devices are complex, bulky, h

Method used

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  • Belt wheel multi-joint high under-driven robot finger device
  • Belt wheel multi-joint high under-driven robot finger device
  • Belt wheel multi-joint high under-driven robot finger device

Examples

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Example Embodiment

[0032] The specific structure and working principle of the present invention will be further described in detail below in conjunction with the drawings and embodiments.

[0033] A multi-joint high-under-drive robot finger device with wheels, including a base, a motor, a reducer, a first gear, a second gear, a proximal joint shaft, n middle finger segments, n-1 middle joint shafts, and a distal joint Shaft, end finger segment; said motor and reducer are fixedly connected to the base, the output shaft of the motor is connected to the input shaft of the reducer, the output shaft of the reducer is fixedly connected to the first gear, and the first gear is connected to the The second gear meshes, the second gear is fixedly connected to the proximal joint shaft, the proximal joint shaft is sleeved in the base, and the i-th middle joint shaft is sleeved in the i-th middle finger segment The distal joint shaft is sleeved in the nth middle finger segment, and the end finger section is slee...

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Abstract

Belonging to the technical field of anthropomorphic robots, a multi-joint super underactuated robot finger device with belt wheels mainly comprises a base seat, a motor, a reducer, a first gear, a second gear, a near joint shaft, at least two middle finger sections, at least one middle joint shaft, a far joint shaft and a terminal finger section. The device also comprises at least two driving wheels, at least two transmission parts, at least two driven wheels and at least two spring parts, and both ends of each spring part are respectively connected with neighboring finger sections. The device utilizes multiple pairs of belt wheel mechanisms, multiple movably socketed middle finger sections and the decoupling function of multiple spring parts to comprehensively realize the special effect of that the multi-joint super underactuated fingers are bent to grasp an object; the structure is simple and reliable, the cost is low, and the fingers are similar to the fingers of a human hand; the device can be used as the fingers of a robot in order to realize that a robot hand can apply less actuators to drive more multi-joint degrees of freedom, and moreover, the device can be self-adapted to the shape of the grasped object.

Description

technical field [0001] The invention belongs to the technical field of anthropomorphic robots, and in particular relates to the structural design of a pulley multi-joint high under-actuation robot 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 robot anthropomo...

Claims

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Application Information

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IPC IPC(8): B25J15/00B25J19/00F16H7/00
Inventor 张文增邱敏
Owner TSINGHUA UNIV
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