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Connecting rod type under-actuated finger mechanism

An underactuated, link-type technology, applied in the field of anthropomorphic robots, can solve the problems of inferior gripping force of fingers driven by tendons, small gripping force of fingers, limited translation stroke of racks, etc. Large and small effect

Inactive Publication Date: 2009-12-16
TSINGHUA UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The main problem with this device is that the grip achieved by the fingers is very small, not even as good as that provided by tendon-driven fingers
The reason for the above-mentioned problems in this device is that the size and structure of the fingers determine that the translation stroke of the rack is very limited. In order to realize the effective rotation of the next phalanx, the gear and the rack must have a large transmission ratio, resulting in the phalanx A very small gripping force requires a very large motor drive force to achieve

Method used

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  • Connecting rod type under-actuated finger mechanism
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  • Connecting rod type under-actuated finger mechanism

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Embodiment Construction

[0038] The specific structure and working principle of the present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0039] The 8-link underactuated finger mechanism of the present invention, such as figure 1 As shown, it includes 1 motor and its reducer, 8 connecting rods, 1 guide rail device, 7 rotary joints, 1 torsion spring and 1 wire spring; the first connecting rod is the base, and the said The second connecting rod, the sixth connecting rod and the eighth connecting rod are respectively the first phalanx, the second phalanx and the third phalanx; the guide rail is located inside the second phalanx, and the fifth connecting rod It is a slider installed in the guide rail and can slide in the guide rail; the first joint connects the first connecting rod (base) and the second connecting rod, and the second joint connects the first connecting rod The connecting rod (base) and the third connecting rod, the third joint ...

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Abstract

The invention discloses a connecting rod type under-actuated finger mechanism, belongs to the technical field of anthropomorphic robots, and in particular relates to design of a robot finger mechanism. The connecting rod type under-actuated finger mechanism is characterized in that eight connecting rod under-actuated finger mechanisms comprising one moving pair and seven rotating pairs are adopted, so the fingers have large gripping force and simple structure, can be designed and manufactured fully according to the sizes of the human fingers, realize the control of a simple controller for controlling a driver to drive a plurality of finger joints, and can flexibly and adaptively grip objects with different sizes and shapes.

Description

technical field [0001] The invention belongs to the technical field of humanoid robots. Especially related to robot finger mechanism design. Background technique [0002] The robot needs to complete various tasks through hand operation, and the dexterous hand is an important part of the robot, so the finger mechanism has become a key technology in the field of robotics. In order to make the humanoid robot fingers small in size and light in weight, have more degrees of freedom and be easy to control. It is generally necessary to design the robot finger as an underactuated form with fewer actuators than degrees of freedom. Underactuated finger grips achieved using tendon-actuated or friction wheels have little force. The link type underactuated finger mechanism provided by the invention realizes the underactuated anthropomorphic finger with compact structure and high gripping force, and the finger can adaptively grasp objects of different shapes and sizes. [0003] An exis...

Claims

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Application Information

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IPC IPC(8): B25J15/00B25J19/00
Inventor 吴立成姚双吉陆震
Owner TSINGHUA UNIV
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