Multipath flexible piece two-joint compound robot finger device

Abstract

The invention discloses a multipath flexible piece two-joint compound robot finger device and belongs to the technical field of human simulating manipulators. The multipath flexible piece two-joint compound robot finger device comprises a base, a motor, a speed reducer, a base shaft, a near joint shaft, a middle finger section, a remote joint shaft, a tail end finger section, a multipath transmission mechanism and a spring piece. In the device, by the single motor, the multi-shaft and multipath transmission mechanism with a different transmission ratio, the spring piece and the like, a compound underactuated catching effect is comprehensively achieved; the finger rotatably moves to an object in a coupled way and adaptively catches the object; the catching process stimulates the operation of a human, the action is flexible, and the object is caught stably; furthermore, the robot finger device can automatically and adaptively catch objects with different sizes and shapes, has low requirement on a control system, a simple and compact structure, high transmission efficiency, low cost, and an appearance similar to that of a human finger, and is easy to operate, and convenient to assemble and maintain, and is low in energy loss, and applicable to the human- manipulator at the same time.

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 two-joint composite robot finger device with multiple flexible parts. 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] An underactuated mechanism is one in which the number of actuators is less than the number of joint degrees of freedom. Many humanoid dexte...

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Problems solved by technology

[0007] 2) The grasping method of the under-actuated hand is mainly the gripping method, and it is difficult to achieve a better grasping effect of the terminal pinch; it cannot achieve the fisting action similar to a human hand when there is no object grasping; it is also difficult to achieve terminal finger pinching When holding an object, the joints are in a natural bending state

[0008] 3) When the under-actuated hand grasps an object, the first finger segment needs to exert sufficient force on the object to trigger the second joint to pull the spring to deform and bend, which will lead to an unstable grasping phenomenon in which the grasping force squeezes the object away. Even if the object is grasped, it may cause the first finger segment to grasp the object too much and damage the object

The disadvantage of coupled fingers is that there is no adaptability to different objects when grasping objects

[0015] 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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