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Differential gear train coupled adaptive under-actuated finger device

A differential gear train and underactuated technology, applied in the field of artificial prosthetic hands, can solve the problems of large movement space of the four-bar mechanism and limitation of finger bending and rotation travel

Active Publication Date: 2013-01-30
CENT SOUTH UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] Most of the existing coupled adaptive underactuated artificial hand mechanisms use multiple sets of four-bar mechanisms to realize the coupling transmission and adaptive transmission functions of the mechanism, but the movement space of the four-bar mechanisms is large, and the decoupling of multiple sets of four-bar mechanisms will Limit finger bending and turning travel

Method used

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  • Differential gear train coupled adaptive under-actuated finger device
  • Differential gear train coupled adaptive under-actuated finger device
  • Differential gear train coupled adaptive under-actuated finger device

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Embodiment Construction

[0025] The specific structure and working principle of the present invention will be further described in detail below in conjunction with the drawings and embodiments. Embodiments of the differential gear train coupling adaptive underactuated finger device provided by the present invention are as follows: figure 1 , figure 2 , image 3 , Figure 4 , Figure 5 , Image 6 , Figure 7 , Figure 8 , Figure 9 , Figure 10 , Figure 11 As shown, the three-knuckle finger device includes a base 4, a motor 1, a driving bevel gear 3, a driven bevel gear 7, a transmission shaft 5, a driving spur gear 8, a driven spur gear 9, and a first knuckle joint shaft 9 , the first knuckle outer sun gear 11, the first knuckle planetary gear 20, the first knuckle inner sun gear 13, the first knuckle planet carrier 14, the first spring 15, the first knuckle planet carrier stop bar 16, The second knuckle transmission rod 21, the first knuckle 12, the second knuckle joint shaft 22, the seco...

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Abstract

A differential gear train coupled adaptive under-actuated finger device belongs to the technical field of artificial hands and comprises a base, three knuckles, three joint shafts, a transmission shaft, two transmission links, a motor, two differential gear train mechanism and a spring member. The differential gear train coupled adaptive under-actuated finger device has the special effect of integrating coupled grasping and under-actuated adaptive grasping. The differential gear train coupled adaptive under-actuated finger device is driven in coupled manner before contacting with an object, and can grasp the object in under-actuated adaptive manner after contacting with the object. The differential gear train coupled adaptive under-actuated finger device is adaptive to size and shape of the object to be grasped. The finger is basically the same as a human finger in terms of shape and grasping manner.

Description

technical field [0001] The invention relates to the technical field of artificial hand, in particular to a structural design of a differential gear train coupling self-adaptive underactuation self-adaptive finger device. Background technique [0002] The hand is a very important organ for humans. Most of the human labor is performed by the hands. The human hand has many joint degrees of freedom, flexible grasping, and complex control. At present, in the field of artificial hand research, in order to make the manipulator reach or approach the functions of the human hand, the following two measures are mainly adopted: the first measure is to increase the number of motors to ensure that each joint can move independently. Various complex grasping movements of the manipulator, but the increase in the number of motors also increases the size and weight of the prosthetic hand, destroying the anthropomorphic nature of the prosthetic hand, and at the same time, the coordinated contro...

Claims

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Application Information

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IPC IPC(8): B25J15/00B25J17/02
Inventor 邓华高飞段小刚
Owner CENT SOUTH UNIV
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