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Rack bar multi-joint high under-driven robot finger device

A robotic finger and underactuated technology, which is applied in the field of humanoid robots, can solve the problems of high manufacturing cost, complex and bulky linkage mechanism, and differences in the appearance of fingers, and achieve the effects of low cost, light weight, and easy installation and maintenance

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 complicated and bulky, the manufacturing cost is high, and the appearance of fingers is quite different from that of human fingers

Method used

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  • Rack bar multi-joint high under-driven robot finger device
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  • Rack bar multi-joint high under-driven robot finger device

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Embodiment Construction

[0030] 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.

[0031] A rack multi-joint high-under-actuated robot finger device, 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 The shaft and the end 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, the output shaft of the reducer is connected to the first gear, and the first gear is connected to the first gear. The said second gear meshes, the second gear is fixedly connected with the said proximal joint shaft, the proximal joint shaft is sleeved in the base, and said i-th middle joint shaft is sleeved in the i-th middle finger section , the said distal joint shaft is sleeved in th...

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Abstract

Belonging to the technical field of anthropomorphic robots, a multi-joint super underactuated robot finger device with racks 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 gears, at least two racks, at least two driven gears and at least two spring parts, and both ends of each spring part are respectively connected with adjacent finger sections. The device utilizes multiple pairs of gear and rack mechanisms, multiple movably socketed middle finger sections and the decoupling function of multiple spring parts to comprehensively realize the special effect 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 rack multi-joint hyper-under-actuated 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 and reduce the volume and weight of the hand, it is necessary to reduce the number of drivers. In addition, in order to better grasp the object, the fingers also need to have a certain degree of adaptability when grasping the object. The robot anthropomorphic finger underactuated device provided by th...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J15/00B25J19/00F16H1/20
Inventor 张文增
Owner TSINGHUA UNIV
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