Finger device of unilateral-coupling and self-adaption composite type underactuated robot

Abstract

The invention relates to a finger device of a unilateral-coupling and self-adaption composite type underactuated robot, belonging to the technical field of humanoid robot hands. The finger device comprises a base, a motor, a speed reducer, a near joint shaft, a middle finger section, a far joint shaft, a tail-end finger section, a unilateral-coupling transmission mechanism, an underactuated transmission mechanism and a spring piece. In the device, a single tendon rope coupling transmission mechanism, a self-adaption transmission mechanism and the spring piece are adopted to comprehensively realize a composite underactuated capture mode formed by combining coupling capture and self-adaption capture; as the single tendon rope coupling transmission mechanism does not interfere the self-adaption capture process, the decoupling mode is very natural, so that the internal power consumption in the capture process is reduced to the maximum extent and the transmission efficiency is reduced; the capture process of the device is humanized and the finger device has self-adaption capability to the size of the captured object; the finger device has a simple structure, low cost and little energy consumption, is easy to control, has similar appearance and action as the hands of a human body and is suitable for the humanoid robot hands.

Description

technical field [0001] The invention belongs to the technical field of humanoid robotic hands, and in particular relates to the structural design of a one-way coupling and self-adaptive composite underactuated robot finger device. Background technique [0002] As an indispensable part of the robot, compared with other parts of the robot, the robot hand has many joint degrees of freedom, small size, very dexterous, complex control and other characteristics, but it is also difficult. Robotic hands are mainly used for other hand movements such as grasping objects, moving in space, and making gestures. Although the existing dexterous hands are flexible in control, they have a large number of motors, complex structures, difficult control, and 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...

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Problems solved by technology

[0011] Therefore, the disadvantages of this device are: due to the adoption of the traditional coupling transmission mechanism, there is a large contradiction in the decoupling process of the adaptive grasping stage, the transmission efficiency of the device is greatly reduced, and the proportion of useless work in the power of the motor is too large ; moreover, there needs to be a relatively complex nonlinear relationship between the stiffness coefficient differences among the three springs used, which is difficult to determine simply, and the requirements for the springs are strict, and it is difficult to maintain the decoupling effect of the three springs in most grips Good level, often lead to grasping failure under some special finger configurations; a large part of the driving force of the motor is lost by the spring force, and the efficiency is not high

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