Finger device for double-joint three-axis-wheel combined underactuated robot

Abstract

The invention discloses a finger device for a double-joint three-axis-wheel combined underactuated robot, which belongs to the technical field of bionic robotic hands. The finger device comprises a base, a motor, a reducer, a base shaft, a near joint shaft, a middle finger section, a far joint shaft, a tail end finger, multiple transmission mechanisms and springs. With the single motor, multiple shafts, multiple transmission mechanisms with different transmission ratios, springs and the like, the finger device achieves the combined underactuated catching advantages that: fingers are coupled and turn to an object to be caught, and self-adaptively catch the object; the catching process is like that of a human hand, the action is flexible, the catching of the object is stable, objects of different sizes and shapes can be caught in a self-adaptive manner, the requirement on the control system is low, and the manipulation is easy; meanwhile, the structure is simple and compact, the energy consumption is low, the transmission efficiency is high, the cost is low, the assembly and maintenance are convenient, the shape of the finger device is similar with a human hand, and the finger device is suitable to be used as a hand of a bionic robot.

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 double-joint three-axis wheel type compound 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] An underactuated mechanism is one in which the number of actuators is less than the number of joint degrees of freedom. Many human...

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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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