Displacement under-actuated two-articulated robot finger device based on flexible piece

Abstract

The invention discloses a displacement shift underactuated two-joint robot finger device based on a flexible piece, which pertains to the technical field of anthropomorphic robots and comprises a base, a first motor, a near joint shaft, a middle finger section, a far joint shaft, an end finger section, a first transmission mechanism and a first spring piece, as well as a second motor, the flexible piece and a second spring piece. The second motor is fixedly connected with the middle finger section, two ends of the flexible piece are respectively connected with the output shaft of the second motor and the end finger section, and the second spring piece is connected to a driving chain from the near joint shaft to the far joint shaft in series. The device uses the motors, the transmission mechanism, the flexible piece and the spring pieces to comprehensively realize the special effect of variable original configuration and self-adapting grabbing of fingers. The device leads the middle joint to bend so as to achieve good grabbing preparation posture before grabbing, and grabs the object in the self-adapting underactuated manner during grabbing. The device has the grabbing action which more approaches to the hands of human, and can stably grab and automatically adapt to objects of various shapes and sizes, thus being applicable to robot hands.

Description

technical field [0001] The invention belongs to the technical field of anthropomorphic robots, and in particular relates to a structural design of a flexible member-based displacement underactuated two-joint robot finger device. Background technique [0002] In the study of intelligent robots, people regard anthropomorphic robots as the highest state of robot research, and have always regarded the realization of human-like behavior as a dream goal. 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. [0003] In the past 30 years, the research on dexterous hands has achieved fruitful results. The dexterous hand has 3 to 5 fingers, and each finger has 2 to 4 joint degrees of freedom. Most of the joints are active joints driven by motors, air muscles, and hydraulic pressure. The dexterous...

AI Technical Summary

Problems solved by technology

The disadvantage of this device is that before touching the object, the middle finger segment and the end finger segment can only be in a straight state, and they rotate around the proximal joint axis as a whole, which affects the grasping effect

[0006] There are also traditional robotic devices with rigid fingers, which have fixed curved finger configurations, which imitate the most common finger gestures when humans grab objects, but the bending state of the fingers of such devices is fixed and cannot change the bending angle, and The number of joint degrees of freedom is too small to meet the grasping needs of objects of different sizes

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