Looking for breakthrough ideas for innovation challenges? Try Patsnap Eureka!

Tendon rope gear 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 multiple linkage mechanisms, complex appearance of fingers, high manufacturing cost, etc., and achieve the effects of light weight, easy installation and maintenance, and low cost

Inactive Publication Date: 2008-07-09
TSINGHUA UNIV
View PDF1 Cites 15 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The disadvantages of this device are: multiple link mechanism devices are complex, bulky, high manufacturing cost, and the appearance of fingers is quite different from that of human fingers

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Tendon rope gear under-driven robot finger device
  • Tendon rope gear under-driven robot finger device
  • Tendon rope gear under-driven robot finger device

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0031] 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.

[0032] An embodiment of a tendon rope gear underactuated robot finger device designed by the present invention, as shown in Figure 1, Figure 2, Figure 3, Figure 4, and Figure 5, includes a base 1, a motor 2, a reducer 21, a first Gear 11, second gear 12, proximal joint shaft 3, middle finger segment 4, distal joint shaft 5 and end finger segment 6; said motor 2 and reducer 21 are all fixedly connected to base 1, and the output shaft of motor 2 It is connected with the input shaft of the speed reducer 21, the output shaft of the speed reducer 21 is fixedly connected with the first gear 11, the first gear 11 is meshed with the second gear 12, and the second gear 12 is fixedly connected with the proximal joint shaft 3, the said The proximal joint shaft 3 is sleeved in the base 1 ; the said distal jo...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

Abstract

Belonging to the technical field of anthropomorphic robots, an underactuated robot finger device with tendons and gears comprises a base seat, a motor, a reducer, a first gear, a second gear, a near joint shaft, a middle finger section, a far joint shaft and a terminal finger section. The device also comprises a driving rope pulley, a transitional rope pulley, a transitional gear, a transitional shaft, a first tendon, a second tendon, a driven gear and a spring part. The device utilizes the gear and tendon transmission mechanism, the movably socketed middle finger section and the decoupling function of the spring part to comprehensively realize the special effect that the double-joint underactuated fingers are bent to grasp an object. Similar to a human finger, the device has the advantages of simple and reliable structure, low cost, convenient assembly and maintenance, small volume and light weight. The device is particularly used as the thumb or one part of other fingers of an 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 humanoid robots, and in particular relates to the structural design of a tendon-cord gear underactuated 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, the fingers also need to have a certain degree of adaptability when grasping the object. The robot anthropomorphic finger underactuated dev...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
IPC IPC(8): B25J15/00B25J19/00F16H37/00
Inventor 张文增
Owner TSINGHUA UNIV
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Patsnap Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Patsnap Eureka Blog
Learn More
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic, Popular Technical Reports.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap|About US| Contact US: help@patsnap.com