Pneumatic underactuated robotic finger device

Abstract

The invention discloses a pneumatic type underactuated robot finger device belonging to the technical field of humanoid robot hands. The pneumatic type underactuated robot finger device comprises a first finger section, a second finger section and an underactuated joint. The underactuated joint comprises an active sliding block, a joint shaft and two pneumatic flexible pieces; the active sliding block is embedded in the first finger section; the joint shaft is sleeved in the first finger section and the second finger section is sleeved and fixed on the joint shaft; the first pneumatic flexible piece is arranged between the first finger section and the active sliding block; the second pneumatic flexible piece is arranged between the first finger section and the second finger section; and the first pneumatic flexible piece and the second pneumatic flexible piece are communicated through a first finger section hole. The finger device adopts gas in a deformable closed space as a transmitting media, is combined with the pneumatic flexible pieces capable of axially stretching and bending, comprehensively realizes the inactive underactuated bending effect of fingers when grapping objects, has the function of automatically adapting to the size of the shape of the gripped objects as well as low manufacturing and maintenance cost, is similar to the fingers of human fingers and can be connected in series to form multi-joint fingers with high shape, self adaptability and high under actuation.

Description

technical field [0001] The invention belongs to the technical field of anthropomorphic robot hands, in particular to a structural design of a pneumatic underactuated robot finger device. Background technique [0002] As the output terminal of anthropomorphic robots, the robot hand has been paid more and more attention by robotics researchers. In the field of robotics, there are two types of robotic hands: dexterous hands and underactuated hands, which are based on two different actuation methods of active control and underactuation respectively. The shape and movement of the dexterous hand are very similar to the human hand. Under the combined effect of complex control algorithms and mechanisms, it can flexibly complete most of the actions that the human hand can complete. However, the dexterous hand is expensive, difficult to manufacture and control, and difficult to maintain. The under-actuated hand can grasp objects adaptively, with little control difficulty, simple main...

AI Technical Summary

Problems solved by technology

The disadvantage of this device is: the device adopts rack and pinion transmission. In order to achieve a good under-actuated effect, that is, to realize the rotation of the second finger segment at a large angle, the radius of the gear used must be small, and the processing is difficult and costly. High; the quality of the rack and pinion is relatively large; the rack and pinion mechanism needs good lubrication and sealing, and the cost of use is high

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