Under-actuated bionic finger device with function of pre-bending grasping

Abstract

An under-actuated bionic finger device with the function of pre-bending grasping belongs to the technical filed of humanoid robots. The finger device comprises a base, a first motor, proximal joint shaft, a middle finger section, a distal joint shaft, an extremity finger section, a first transmission mechanism and a first spring part, a second motor, a flexible piece and a second spring part. Thesecond motor is fixedly connected with the extremity finger section; two ends of the flexible piece are respectively connected with an output shaft of the second motor and the middle finger section; and a second spring part is connected in series with a transmission chain which is from the proximal joint shaft to the distal joint shaft. The device has the advantages that the special effect that an initial configuration of fingers can be changed through the combination of the motor, the transmission mechanism, the sliding block, the gear, the gear rack, and the spring part, so as to realize the self-adapting grasping, is realized; the middle joint is bent before grasping so that the fingers can be in a good preparation state for grasping an object in a self-adapting under-actuated manner; and the grasping movement of the device is similar to that of a hand so that objects with different shapes and sizes can be stably grasped in a self-adapting manner, thereby being applicable to a robotic hand.

Description

Technical field [0001] The invention belongs to the technical field of anthropomorphic robots, and particularly relates to the structural design of a pre-curved grasping under-actuated bionic finger device. Background technique [0002] In the research of intelligent robots, people regard anthropomorphic robots as the highest level of robot research, and they have always regarded the realization of human-like behavior as their dream goal. Similar to humans, most functions of anthropomorphic robots need to be realized by hand operation, 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, dexterous hand research has achieved fruitful results. The dexterous hand has 3 to 5 fingers, each of which has 2 to 4 degrees of freedom. Most of the joints are active joints driven by motors, air muscles, and hydraulics. The dexterous hand can perform various movements of the...

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

Images