Finger device for underactuated robot adapting along with shapes automatically

Abstract

A finger device for an underactuated robot adapting along with shapes automatically belongs to the technical field of robot hands imitating a person hand. The finger device comprises a first finger section, a second finger section and an underactuated joint, wherein the underactuated joint comprises an air sac, a joint shaft, a pneumatic flexible part and a reed part. The finger device adopts the air sac to receive the air in a transform piece and a transformable closed space and turns the air into transmission medium, and when fingers are used for grabbing the objects, the passive underactuated bent effect for object pressure of any direction is comprehensively realized through the combination of device and the pneumatic flexible part capable of stretching and bending axially; large angle rotation of a second finger section can be realized by using very small deformation along with the shape of the air sac; the device does not limit the pressure direction of the object on the air sac, and the rotation of the second finger section can be realized by any pressure on the air sac; when grabbing the object, the device can adapt to the shape and size of the grabbed object automatically, the device has a simple structure, small volume and light weight, is low in manufacturing and maintenance costs, and is similar to fingers of the person hand; and the device can be connected in series so as to form highly-underactuated multi-joint fingers realizing strong self-adaption to shapes.

Description

technical field [0001] The invention belongs to the technical field of anthropomorphic robot hands, in particular to a structural design of a shape-adaptive underactuated robot finger device. Background technique [0002] As the output terminal of anthropomorphic robots, the robot hand has been paid more and more attention by robotics researchers. In the field of robotics, there are two types of robotic hands: dexterous hands and underactuated hands, which are based on two different actuation methods of active control and underactuation respectively. The shape and movement of the dexterous hand are very similar to the human hand. Under the combined effect of complex control algorithms, control systems, sensing systems and execution systems, it can flexibly complete most of the actions that can be completed by human hands. However, the dexterous hand is expensive and difficult to manufacture and control. , It is difficult to maintain, and it has not been widely used in pract...

AI Technical Summary

Problems solved by technology

This device has the following serious shortcomings: the device requires that the angle between the extrusion force of the object on the active slider and the direction of the chute (that is, the pressure angle of the active slider movement) must be small (for example, less than 30 degrees), otherwise the active slider It will be difficult to be pushed; in addition, some force that is not along the direction of the guide groove of the active slider is lost at the source of the force; due to the existence of friction, the resistance is greater, which also causes force loss

Images