Chiasma tendon rope under-driven robot finger device

A robot finger, underactuated technology, applied in the field of anthropomorphic robots, can solve the problems of complex linkage devices, different appearance of fingers, and high manufacturing cost, 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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  • 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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  • Chiasma tendon rope under-driven robot finger device
  • Chiasma tendon rope under-driven robot finger device
  • Chiasma tendon rope under-driven robot finger device

Examples

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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] The embodiment of a cross tendon cord underactuated robot finger device designed by the present invention, as shown in Fig. 1, Fig. 2, Fig. 3, Fig. 4, and Fig. 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 joint shaft 5 is sleeved in the middle finger section 4 , and the...

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PUM

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Abstract

Belonging to the technical field of anthropomorphic robots, an underactuated robot finger device with crossed tendons 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 gear, a transitional gear, a driving rope pulley, a transitional shaft, a first tendon, a second tendon, a driven rope pulley 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 anthropomorphic robots, and in particular relates to the structural design of a cross tendon rope 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, it is also necessary for the finger to have a certain degree of adaptability when grasping the object. The robot anthropomorphic fi...

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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