Three-axis gear and rack composite underactuated dual-joint robot finger device

Abstract

The invention discloses a three-axis gear and rack composite underactuated dual-joint robot finger device, which belongs to the technical field of humanoid robot hands. The finger device comprises a base, a motor, a speed reducer, a base shaft, a juxta articular shaft, a middle finger section, a distal articular shaft, a tail end finger section, a multi-path gear driving mechanism and a spring. According to the device disclosed by the invention, the composite underactuated grabbing effect is comprehensively achieved by adopting a single motor, the multi-axis and multi-path gear driving mechanisms with different driving ratios, the spring and the like: fingers are coupled and rotatably grab an object and then self-adaptively grab the object; the finger device is humanized in the grabbing process, has skilful action, stability for grabbing the object, low requirement for a control system and easiness in operation and control and can be used for automatically and adaptively grabbing objects with different sizes and shapes; meanwhile, the finger device has the advantages of simple and compact structure, low energy loss, high driving efficiency, low cost, convenience in assembly and maintenance; and the finger device is similar to fingers of a person in appearance 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 three-axis rack and pinion composite underactuated double-joint 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...

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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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