Displacement under-actuated robot hand apparatus

Abstract

The invention discloses a position-variable under-actuated robot hand device, which belongs to the technical field of anthropomorphic robots. The device has five independent control fingers and 15 joint degrees of freedom and is driven by 10 motors, wherein the middle finger, the third finger, the litter finger and the forefinger have the same structure and adopt double motor-driven three-joint rotation, and the thumb is capable of swinging laterally and adopts double motor-driven three-joint rotation. The structures of the fingers are similar and realize the initial configuration-changing self-adaptive grabbing functions of the fingers by using the motors, a transmission mechanism, a flexible piece and a spring piece, namely, the finger bends the middle joint before grabbing to assume a desirable preparation gesture to adapt to the size of an object automatically during grabbing. Through the adjustment of the initial configurations of the fingers, the grabbing stability is improved greatly. The device is compact in structure, high in integration level, similar to human hand in appearance, dimension, shape and motion, capable of stably grabbing and automatically adapting to objects with different shapes and dimensions, and applicable to the anthropomorphic robots.

Description

technical field [0001] The invention belongs to the technical field of anthropomorphic robots, and in particular relates to the structural design of a displacement underactuated robot hand 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 hand can perform various action...

AI Technical Summary

Problems solved by technology

The disadvantage of this device is that before touching the object, the middle and end fingers of each finger can only be straightened and rotate around the proximal joint axis as a whole, which affects the grasping effect

[0007] 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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