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Pre-bend coupling under-actuated three-joint robot finger device

A robot finger, underactuated technology, applied in the field of anthropomorphic robots, can solve problems such as affecting the grasping effect, and achieve the effects of compact structure, improved stability, and reduced requirements

Inactive Publication Date: 2010-12-22
TSINGHUA UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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
At the same time, considering the actual situation of human fingers, the end joints usually rotate synchronously with the middle joints, and the rotation angles of the two have a certain synergistic effect, and neither device can satisfy this effect

Method used

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  • Pre-bend coupling under-actuated three-joint robot finger device
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  • Pre-bend coupling under-actuated three-joint robot finger device

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Embodiment Construction

[0039] The specific structure and working principle of the present invention will be described in detail below in conjunction with the accompanying drawings and embodiments.

[0040] Embodiments of the pre-bending coupling underactuated three-joint robot finger device designed by the present invention, such as figure 1 , figure 2 , image 3 , Figure 4 , Figure 5 , Image 6 , Figure 7 , Figure 8 , Figure 9 , Figure 10 As shown, it includes a base 1, a first motor 2, a first transmission mechanism 3, a first joint shaft 4, a second transmission mechanism 6, a first middle finger segment 5, a second joint shaft 7, and a second middle finger segment 12 and the first spring member 8; the first motor 2 is fixedly connected to the base 1, the output shaft of the first motor 2 is connected to the first joint shaft 4 through the first transmission mechanism 3, and the first transmission mechanism 3 connects the first The rotational power of the output shaft of the motor...

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Abstract

A pre-bending coupling under-driven three-joint robot finger device belongs to the technical field of anthropomorphic robot. The pre-bending coupling under-driven three-joint robot finger device comprises a base, double motors, three joint axes, three transmission mechanisms, two middle finger segments, two reed components, a flexible component, a band pulley transmission mechanism and a bottom finger segment. The device realizes the variable initial configuration of finger and special effect of partial coupling self-adapting grasping comprehensively through the double motor, the transmissionmechanism, the flexible component and the reed component. The device bends a second middle finger segment before grasping and the bottom finger segment automatically couples and bends for obtaining an excellent grasping preparing gesture. The first middle finger segment and the second middle finger segment grasp the object according to a self-adapting under-driven mode in grasping of device. The shape and action of the device are close to the human finger. The device can stably grasp and automatically adapt the objects with various shapes and dimensions.

Description

technical field [0001] The invention belongs to the technical field of humanoid robots, and in particular relates to the structural design of a pre-bending coupling underactuated three-joint robot finger device. Background technique [0002] Anthropomorphic robots have always been the cutting-edge field of robotics research, and realizing intelligence by imitating human actions has always been an important research direction in this field. And like humans themselves, most of the functions of anthropomorphic robots are also realized by hands. Therefore, the research of robot hand has become one of the key technologies of robot research. [0003] There are two main types of robotic hands that realize the grasping function of human hands: dexterous hands and underactuated hands. The dexterous hand generally has 3 to 5 fingers, and each finger has 2 to 4 joint degrees of freedom. Most of the joints are motors and air muscles. , hydraulic and other driven active joints. The de...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J15/00B25J19/00F16H25/20
Inventor 张文增侯宇孙乐陈强都东
Owner TSINGHUA UNIV
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