Double-slider-type parallel coupling under-actuated robot finger device

Abstract

The invention relates to a double-slider-type parallel coupling under-actuated robot finger device belonging to the technical field of robot hands. The device comprises a base, a near joint shaft, a first finger segment, a far joint shaft, a second finger segment, a flexible piece, a gear, a rack and a spring, realizes the transmission effect by tightly integrating coupling rotation and under-actuated rotation and can couple anthropomorphic catch and has the under-actuated self-adaptive function. The whole finger has simple structure and low manufacture processing cost. The coupling transmission and under-actuated transmission are organically integrated to realize natural decoupling by utilizing the movable contact mode of the sliders, and the decoupling does not consume motor power and has high energy utilization rate. The device has the appearance resembling a person finger and can be used as a finger or a part of the finger of a robot hand or a plurality of fingers can be combined into a robot hand so as to reach the excellent effects of high joint degree of freedom and high self-adaption in simulating the robot hand.

Description

technical field [0001] The invention belongs to the technical field of anthropomorphic robot hands, and in particular relates to the structural design of a double-slider type parallel coupling underactuated robot finger device. Background technique [0002] As an indispensable part of the robot, the robot hand has many joint freedoms, small size, very dexterous, complex control and other characteristics and difficulties compared with other parts of the robot. 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 widespread application of dexterous hand-shaped robotic hands in real life. Although the coupled grasping robot hand and the underactuated grasping robot hand developed rap...

AI Technical Summary

Problems solved by technology

The disadvantages of this device are: the device adopts two sets of transmission mechanisms to realize 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 spring parts 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 spring parts are installed on the joint shaft, resulting in too thick fingers, which increases manufacturing, Installation and maintenance cost and difficulty

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