Double-rack slider type parallel finger device integrating coupling and under-actuation

Abstract

A double-rack slider type parallel finger device integrating coupling and under-actuation belongs to the technical field of humanoid robot hands. The device comprises a base, a near joint bearing, a first finger segment, a far joint bearing, a second finger segment, a motor, two sets of gear rack transmission mechanisms and spring parts. The device realizes the transmission effect of close integration of coupling transmission and under-actuated transmission, can couple humanoid grabbing and has the function of under-actuated adaptation. The whole finger has concise structure and low manufacturing cost. Coupling transmission and under-actuated transmission are organically integrated. Natural decoupling is realized by flexible contact of the slider, which does not consume motor power and ishigh in energy utilization rate. The device has compact structure, steady and accurate transmission and low manufacturing and maintaining costs, has appearance similar to that of the human finger, can be used as one finger or a part of the fingers of the robot hand and can combine a plurality of fingers to form the robot hand to achieve the excellent effects of high degree of freedom of joints and high adaptability of the humanoid 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 rack slider type parallel coupling underactuated 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 rapi...

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; the two sets of the device The transmission mechanism of the set adopts flexible transmission parts, which are easy to loose and cause gaps, and the transmission is not accurate enough. To achieve good results, a pre-tensioning device is required, which further increases the cost and difficulty of manufacturing, installation and maintenance

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