Flexible part crank block type parallel coupling underactuated robot finger device

Abstract

The invention discloses a flexible part crank block type parallel coupling underactuated robot finger device, and belongs to the technical field of anthropomorphic robot hands. The device comprises a base, a near joint shaft, a first finger segment, a far joint shaft, a second finger segment, a connecting rod, a drive plate, a motor, a flexible part and a spring. The device can achieve the transmission effect combining coupling rotation and underactuated rotation, can realize anthropomorphic grasp through coupling, and also has the underactuated adaptive function. The whole finger has the advantages of concise structure, low manufacturing and processing cost, natural decoupling by utilizing block moving contact mode, no need of power consumption of the motor and high energy utilization rate. A crank block mechanism of the second finger segment can realize large-angle rotation of the second finger segment by moving very short distance of an active block. The device is similar to a human finger in appearance, can be used as one finger or a part of the finger of a robot hand, also can be combined with a plurality of the fingers into the robot hand so as to achieve the good effect of high degree of freedom of joints and high adaptivity of the anthropomorphic robot hand.

Description

technical field [0001] The invention belongs to the technical field of anthropomorphic robot hands, in particular to a structural design of a flexible part crank slider type parallel coupling underactuated robot finger device. Background technique [0002] The robot hand is an indispensable part of the robot. Compared with other parts of the robot, the robot hand has many joint freedoms, small size, very dexterous, complex control and other characteristics and difficulties. The robot hand is mainly used for grasping objects, moving in space, and making gestures and other hand movements. Although the existing dexterous hands are flexible in control, they have a large number of motors, a very complex structure, considerable difficulty in control, and very high manufacturing and maintenance costs. These factors hinder the popularization and application of dexterous hand-type robot hands in real life. Although the coupled grasping robot hand and the underactuated grasping robot...

AI Technical Summary

Problems solved by technology

The disadvantages of this device are: the device adopts two sets of transmission mechanisms to achieve coupling and under-actuated grasping respectively, which makes the structure of the whole finger complex and the cost of manufacturing and processing is high; the coupling transmission mechanism and the under-actuation transmission mechanism of the device affect each other, Although three springs are used for decoupling, the power of the motor is consumed internally; the two sets of transmission mechanisms of the device are arranged in parallel, and multiple springs are installed on the joint shaft, resulting in too thick fingers, which increases manufacturing, Cost and difficulty of installation and maintenance

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