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Multi-degree-of-freedom underactuated manipulator

An underactuated, degree-of-freedom technology, applied in the field of manipulators, can solve problems such as high dexterity, complex control, and many degrees of freedom, and achieve the effect of many degrees of freedom, simple transmission mechanism, and strong adaptability

Inactive Publication Date: 2012-07-04
SHANGHAI UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

As the executive part of the robot arm, the manipulator is mainly used to grab objects, and has the characteristics of small size, high dexterity, many degrees of freedom, and complex control.

Method used

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  • Multi-degree-of-freedom underactuated manipulator

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0012] Embodiment one: see Figure 1-5 , the multi-degree-of-freedom underactuated manipulator, including the palm (37), thumb (44), index finger (45), middle finger (46), ring finger (47), little finger (48), guide wheel (2, 3, 4, 5, 7, 9, 10, 11, 12, 14, 30, 31, 32, 34, 36), driving tendons (1, 6, 8, 11, 29), characterized in that: the index finger (45), The middle finger (46), ring finger (47) and little finger (48) are hinged with the palm (37) through the shaft (16), and can rotate around the shaft (16). Each finger consists of 3 knuckles, the thumb (44) includes the proximal knuckle (39), the middle knuckle (40), and the distal knuckle (41), the index finger (45) includes the knuckle (15), the middle knuckle knuckle (18), far index knuckle (21), middle finger (46) including near and middle knuckles (19), middle and middle knuckles (20), far and middle knuckles (22), ring finger (47) including near ring knuckles (26), The middle ring finger (25), the far ring finger (23...

Embodiment 2

[0013] Embodiment 2: This embodiment is basically the same as Embodiment 1, and the special features are as follows:

[0014] The layout of the rope guide wheels inside the palm is based on the fact that the force driving the thumb is relatively large. In the absence of friction, the force on tendon C (8) is equal to the driving force of the motor, and the force on tendon B (6) is Half of the driving force, the force on tendons D, E (11,29) is half that on tendon B (6). The first, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15 guide wheels (2, 3, 4, 5, 7, 9, 10, 11, 12, 14, 30, 31, 32, 34, 36) There is a small groove on the outside of the middle, which can make the tendon better connect with the sheave. The shape of the palm (37) is a hollow box without a cover, and there are chutes (13, 33, 36) at the bottom of the palm for the 8th, 13, 2 guide pulleys (11, 32, 3), and the stroke of the chute is at Between 20-35mm, similar to the length of human knuckles, sliding in between...

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Abstract

The invention relates to a multi-degree-of-freedom underactuated manipulator which comprises a palm, a thumb, a middle finger, an index finger, a ring finger, a little finger, a rope guide wheel, spring leaves, a drive tendon and the like. Each of the thumb, the index finger, the middle finger, the ring finger, the little finger and the like comprises three knuckles, all knuckles are connected through the spring leaves, and the spring leaves and cushion blocks are fixed on the back of each knuckle through bolts. All knuckles are driven by the motor, and the knuckles are driven to bend through tendon and the rope guide wheel. The multi-degree-of-freedom underactuated manipulator provided by the invention has the advantages of high level personification, strong adaptability, light weight, small volume, compact structure, less drive elements, multiply free degree, easiness in control, simplilcity in processing and the like.

Description

technical field [0001] The invention relates to a manipulator, in particular to a multi-degree-of-freedom underactuated manipulator. Background technique [0002] In recent decades, there has been a lot of research on robotic dexterous hands, and good results have been achieved. Robotic hands generally have 2 to 5 fingers, and each finger has 2 to 4 knuckles. The forms of manipulators mainly include fully-actuated manipulators and under-actuated manipulators. The number of driving of fully-actuated manipulators is equal to the number of degrees of freedom, and the number of driving of under-actuated manipulators is less than the number of degrees of freedom. At present, the research on under-actuated manipulators has occupied the mainstream. The driving components of the manipulator mainly include motor, hydraulic, pneumatic, memory alloy, etc., and drive the movement of each knuckle of the manipulator through some transmission mechanisms. As the executive part of the robot...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J15/10
CPCB25J15/0009
Inventor 吕海峰何斌曹进涛何小林王延刚宋伟徐新虎
Owner SHANGHAI UNIV
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