Three-joint under-driven robot little finger device

A robotic hand and underactuated technology, applied in the field of humanoid robots, can solve problems such as unreliable grasping performance, decoupling effect decline, and aesthetic impact, and achieve reliable performance, simple structure, and easy installation and maintenance.

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

AI Technical Summary

Problems solved by technology

[0004] The disadvantages of this device are: due to the loss of materials due to this frictional decoupling, the decoupling effect will decrease after long-term use, resulting in unreliable grasping performance; due to the use of multi-stage gear transmission, when used in the middle finger segment,

Method used

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  • Three-joint under-driven robot little finger device
  • Three-joint under-driven robot little finger device
  • Three-joint under-driven robot little finger device

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Embodiment Construction

[0036] 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.

[0037] A three-joint underactuated robot hand little finger device designed by the present invention includes a base, a motor, a reducer, a first gear, a second gear, a shaft near a joint, a first middle finger segment, a second middle finger segment, and a middle joint Shaft, distal joint shaft, terminal finger section; 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, and the output shaft of the reducer is fixedly connected to the first gear, The first gear meshes with the second gear, the second gear is fixedly connected with the proximal joint shaft, the proximal joint shaft is sleeved in the base, and the middle joint shaft is sleeved in the first middle finger section , the said distal joint...

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PUM

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Abstract

Belonging to the technical field of anthropomorphic robots, a tri-joint underactuated robot little finger device comprises a base seat, a motor, a near joint shaft, first and second middle finger sections, a middle joint shaft, a far joint shaft and a terminal finger section. The device also comprises a driven gear, first and second driving gears, a near transitional gear, a driving wheel, a transmission part, a driven wheel, a far transitional gear, first and second spring parts, a first near transitional shaft, a first far transitional shaft and a second transitional shaft. The device utilizes the designed gear and belt wheel transmission mechanism, two movably socketed middle finger sections and the decoupling function of two spring parts to comprehensively realize the special effect of that the tri-joint underactuated finger is bent to grasp an object. Similar to the human fingers, the device can be used on a robot hand with the long first middle finger sections and short second middle finger sections of fingers and particularly used as the little finger of the anthropomorphic robot hand, so that the anthropomorphic robot hand can use less actuators to drive more rotating joints, and can be self-adapted to the shape and size 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 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 anthropomorphic f...

Claims

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Application Information

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IPC IPC(8): B25J15/00B25J19/00F16H37/00
Inventor 张文增
Owner TSINGHUA UNIV
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