Rack type parallel coupling underactuated robot finger device

Abstract

The invention relates to a rack type parallel coupling underactuated robot finger device belonging to the technical field of hand design of humanoid robots. The device comprises a base, a motor, a speed reducer, a proximal joint axle, a middle finger section, a distal joint axle, a tail end finger section, a coupling transmission mechanism, an underactuated transmission mechanism and a plurality of spring parts. The device comprehensively realizes the effective fusion of the coupled grasping effect and the selfadaptive underactuated grasping effect by adopting the motor, the gear rack coupling transmission mechanism, the gear rack underactuated transmission mechanism and the spring parts. The device has simple structure and no transition axle; and the transmission parts do not distort andare not pretightened, the transmission process is accurate, the appearance and the action process of grasping objects are similar to those of human fingers, and therefore, the device is suitable for being taken as fingers of a humanoid robot hand.

Description

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AI Technical Summary

Benefits of technology

The technical effect of this patented technology lies within its unique benefits compared to previous methods that were previously used for research purposes or similar applications.

Problems solved by technology

This patented problem addressed in this patents relates to the lack of efficient and effective methods or devices for controllably adjusting the dimensions of flexible arms without causing damage during handling operations such as pickling or grinding. Current solutions involve complicated mechanisms involving linkage between parts, leading to difficulties in achieving consistency motion and accurate positioning over wide areas.

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