Double joint and equidirectional drive hybrid under-actuated robot finger device

Abstract

The invention discloses a double joint and equidirectional drive hybrid under-actuated robot finger device, which belongs to the technical field of robot hands. The device comprises a base, a motor, a decelerator, a base shaft, a proximal joint shaft, a middle finger segment, a distal joint shaft, a tail finger segment, a plurality of gears, an equidirectional drive mechanism and a spring part. By adopting the motor, the gear drive with different drive ratios at different paths, the equidirectional drive mechanism, the spring part and the like, the device comprehensively achieves the hybrid under-actuated grasping effect that fingers are coupled to grasp objects first and then self-adaptive to the different objects; each finger segment has a great grasping force, so objects are grasped more stably; and fingers are controlled by a few motors and have a plurality of flexible segments, so operation and control are easier. The device has a simple and reliable structure, small energy loss and high drive efficiency, and is low in cost, convenient to assemble and maintain and similar. Besides, the shape of the device is similar to human hand, so the device is suitable to be used as the finger part of a humanoid robot.

Description

technical field [0001] The invention belongs to the technical field of robotic hands, and in particular relates to the structural design of a double-joint co-direction transmission composite underactuated robot finger device. Background technique [0002] The hand is a very important organ for humans. In the field of humanoid robots, it is of great significance to enhance the function of the robot hand. On the one hand, by increasing the number of joints and the number of drives, the movement of the manipulator can be made more diverse and precise, but at the same time, this will make the mechanism complex and cumbersome; The accuracy of the movement is negatively affected. At the same time, the robot hand is required to be compact and flexible with sufficient grasping force. There are still many technical problems in this field. [0003] The so-called composite underactuated robot finger device refers to the composite underactuated grasping that the finger can realize th...

AI Technical Summary

Problems solved by technology

The device can realize compound under-actuated grasping, but the disadvantage is that the mechanism is complex and difficult to install and maintain; the number of spring parts is too large, and the contradiction between the coupling transmission mechanism and the self-adaptive transmission mechanism is often adjusted by using the spring part decoupling, which often makes multiple spring parts High deformation, resulting in excessive and unnecessary energy loss

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