Crank block type flexible piece parallel coupled under-actuated finger device

Abstract

The invention discloses a crank block type flexible piece parallel coupled under-actuated finger device, which belongs to the technical field of anthropomorphic robot fingers. The device comprises a pedestal, a proximal joint shaft, a first finger section, a far joint shaft, a second finger section, a dial plate, a connecting rod, a flexible piece and a spring piece. The device achieves the transmission effect of tightly combining coupled rotation and under-actuated rotation, can couple anthropomorphic grab, and has under-actuated adaptive function. The whole finger has a compact structure, and the manufacturing and machining costs are low; and the coupled transmission and the under-actuated transmission are organically fused, natural decoupling is realized in an active contact mode of a slide block, the decoupling does not consume motor power, and the utilization rate of energy is high. With a similar appearance as a human finger, the device can be used as a finger of a robot hand or a part of a finger, and can achieve good effects of high joint freedom degree and high adaptability of the anthropomorphic robot hand by combining a plurality of fingers to form the robot hand.

Description

technical field [0001] The invention belongs to the technical field of anthropomorphic robot hands, and in particular relates to a structural design of a crank-slider type flexible part coupled in parallel with an underactuated 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 underactuate...

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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