Coupling underactuated integral finger device of double-joint robot

Abstract

The invention relates to a coupling underactuated integral finger device of a double-joint robot, which belongs to the technical field of robot hands. The device comprises a base, a motor I, two finger sections, two joint axles, a motor II, four connecting rods, two spring parts, and the like. The connecting rods and the spring parts form a coupling transmission mechanism and an underactuated transmission mechanism which are in an integral structure, the two finger sections are sleeved, the special effect that the double-joint finger coupled grasping process and the underactuated selfadaptivegrasping process are fused into a whole is comprehensively realized, and the finger device rotates in a coupled mode before being in contact with an object, achieves the purpose of grasping the object in a pinching manner, also rotates in an underactuated selfadaptive way to grasp the object after being in contact with the object, is automatically suitable for the size and the shape of the grasped object and achieves the purpose of grasping in a holding manner. The finger device has high output, low requirement on the control system, simple and reliable structure and low cost, is suitable forlong-term use, is similar to the finger appearance and the action of the human finger and is used on a humanoid robot hand.

Description

technical field [0001] The invention belongs to the technical field of robot hands, and in particular relates to a structural design of a coupled underactuated integrated double-joint robot finger device. Background technique [0002] As an important part of the robot, the robot hand device has become the focus and focus of research in the field of robotics in recent years. But in the current research, there are some technical difficulties. For example, in order to realize the multi-degree-of-freedom dexterous hand, more motors are needed to provide power. However, the increase in the number of motors will not only lead to a complex control system, but also make the whole finger device mechanism huge, destroying its anthropomorphic nature. Under-actuation technology is one of the solutions that can better solve this contradiction. By utilizing an underactuated mechanism, more joint degrees of freedom can be driven by fewer motors, thereby reducing the requirements on the ...

AI Technical Summary

Problems solved by technology

[0005] However, this type of underactuated adaptive mechanical finger device also has certain shortcomings: the finger always rotates in a straight state before touching the object, which not only has a large difference from the human hand action, lacks anthropomorphism, and when the first finger After one segment touches the object, before the second segment rotates to contact the object, the object may be pushed away by the action of the first segment and leave the grasping range of the finger; the finger can only grasp the object in a gripping manner, But can not achieve a good end pinch; when the end of the finger touches the object, the natural bending of each joint cannot be realized, so it is difficult to pull the object into the hand and grasp it firmly; it cannot achieve the action similar to the empty hand clenching of the human hand, etc.

However, the coupled grasping and underactuated adaptive grasping of this device are separated. Only the upper part of the finger is used to realize the coupled grasping, and the lower part of the finger is used to realize the underactuated adaptive grasping. Simple synthesis, and does not really integrate the two grabbing methods

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