Crank block type under-actuated robot finger device

A crank slider and underactuated technology, which is applied in the field of anthropomorphic robot hands, can solve the problems of large contact stress, large mechanical impact, and many transmission parts, and achieve the effects of low processing cost, easy maintenance, and reduced control system requirements

Inactive Publication Date: 2009-09-02
WUXI RES INST OF APPLIED TECH TSINGHUA UNIV +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0006] The disadvantages of this device are: the device uses multiple connecting rods to drive, there are many transmission parts, the transmission chain is long, the device is relatively complicated, and there is a line contact between the active slider and the active connecting rod, the mechanical impact is large, and the contact stress is large. , easy to wear, poor reliability

Method used

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  • Crank block type under-actuated robot finger device
  • Crank block type under-actuated robot finger device
  • Crank block type under-actuated robot finger device

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Embodiment Construction

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

[0040] An embodiment of a slider crank type underactuated robot single-joint finger device designed by the present invention, the appearance of which is as follows figure 1 , 2 As shown, the cross-sectional view is as image 3 , 4 As shown, some parts such as Figure 5 , 6 , 7, the action principle is as follows Figure 8 , 9, 10, 11, 12, 13, 14, 15, 16, 17. This embodiment includes a first finger section 1, a second finger section 2 and an underactuated joint 3 arranged between the two, the underactuated joint includes an active slider 4, a joint shaft 7 and a spring 8; the described The joint shaft 7 is sleeved in the first finger segment 1, the second finger segment 2 is sleeved on the joint shaft 7, the spring 8 is arranged in the first finger segment 1, and the two en...

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Abstract

The invention relates to a crank block type under-actuated robot finger device belonging to the technical field of humanoid robot fingers and comprising a first finger part, a second finger part and an under-actuated joint. The under-actuated joint comprises a driving block, a joint shaft, a spring, a first shaft, a connecting rod, a second shaft and a drive plate; the spring is connected with the first finger part and the driving block; the connecting rod is respectively articulated with the driving block and the drive plate which is fixedly sleeved on the joint shaft; and the driving block is embedded in the first finger part. The device adopts the crank block mechanism to realize the rotation function of the second finger part, and the very short movement distance of the driving block can bring the large-angle rotation of the second finger part through reasonable dimension design; the device can coordinate with other driving fingers or driving joints to capture an object, has self adaptability, few driving parts, a short driving chain and low cost and is similar to human fingers, can be connected in series to form highly under-actuated multi-joint fingers and is applied to humanoid robot fingers.

Description

technical field [0001] The invention belongs to the technical field of anthropomorphic robot hands, and in particular relates to the structural design of a crank slider type 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. Designing an underactua...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J15/08
CPCB25J15/0009
Inventor 张文增纪瀛皇侯宇陈强都东
Owner WUXI RES INST OF APPLIED TECH TSINGHUA UNIV
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