Smart under-actuated bionic robot finger device with parallel-connected tendon ropes

Abstract

The invention relates to a smart under-actuated bionic robot finger device with parallel-connected tendon ropes, which belongs to the technical field of anthropomorphic robots. A diarticular finger device comprises a pedestal, a first motor, a second motor, a juxta-articular shaft, a first finger segment, a distal-articular shaft, an tail end finger segment and a return spring. The device also comprises a first rope wheel, a second rope wheel, a third rope wheel, a first tendon rope, a second tendon rope and a third tendon rope. A polyarticular finger device also comprises at least one middlefinger segment and at least one middle rope wheel. The device comprehensively realizes the special effect of combining finger original configuration variability and self-adaptive grasp by utilizing the motors, the rope wheels, the tendon ropes and the return spring. The device can flexibly bend the middle joints of fingers before grasp to achieve a stable and anthropomorphic prebent gesture and grasps an object in a self-adaptive under-actuated mode when in grasp. The grasping action of the device more approaches to a human hand, and the device can self-adaptively and stably grasp different objects and is applicable to an anthropomorphic robot hand.

Description

technical field [0001] The invention belongs to the technical field of anthropomorphic robots, and in particular relates to a structural design of a tendon-cord parallel smart underactuated bionic robot finger device. Background technique [0002] In the study of intelligent robots, people regard anthropomorphic robots as the highest state of robot research, and have always regarded the realization of human-like behavior as a dream goal. 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. [0003] In the past 30 years, the research on dexterous hands has achieved fruitful results. The dexterous hand has 3 to 5 fingers, and each finger has 2 to 4 joint degrees of freedom. Most of the joints are active joints driven by motors, air muscles, and hydraulic pressure. The dexterous hand can p...

AI Technical Summary

Problems solved by technology

The disadvantage of this device is that before touching the object, the middle finger segment and the end finger segment can only be in a straight state, and they rotate around the proximal joint axis as a whole, which affects the grasping effect

[0006] There are also traditional robotic devices with rigid fingers, which have fixed curved finger configurations, which imitate the most common finger gestures when humans grab objects, but the bending state of the fingers of such devices is fixed and cannot change the bending angle, and The number of joint degrees of freedom is too small to meet the grasping needs of objects of different sizes

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