Connecting rod type synergy drive robot finger

A robotic finger and connecting rod technology, applied in the direction of manipulators, joints, chucks, etc., can solve the problems of fast grasping speed, excessive energy loss, and failure to reach, and achieve precise grasping action, large grasping force, and fast The effect of grasping speed

Inactive Publication Date: 2013-02-13
TSINGHUA UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The device can realize compound under-actuated grasping. The disadvantage is that due to the use of a single motor drive, it can neither achieve a faster grasping speed nor provide a strong grasping force, and the mechanism is complicated, and the numb...

Method used

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  • Connecting rod type synergy drive robot finger
  • Connecting rod type synergy drive robot finger
  • Connecting rod type synergy drive robot finger

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Experimental program
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Embodiment Construction

[0026] The specific structure and working principle of the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments.

[0027] An embodiment of the double-joint co-direction transmission composite underactuated robot finger device of the present invention, as Figure 1 to Figure 5a , 5b, including the first screw motor 1, the base 2, the middle finger section 6, the proximal joint shaft 7, the distal joint shaft 16 and the end finger section 17; the first screw motor 1 is installed on the base 2 Above, the proximal joint shaft 7 is sleeved in the base 2, the distal joint shaft 16 is sleeved in the middle finger segment 6, and the middle finger segment 6 is sleeved on the proximal joint shaft 7; the terminal finger segment 17 Sleeved on the distal joint shaft 16; it is characterized in that: the device also includes a first nut slider 3, a first connecting rod 5, a second connecting rod 8, a second screw motor 9, a...

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Abstract

A connecting rod type synergy drive robot finger belongs to the technical field of the robot hands. The connecting rod type synergy drive robot finger comprehensively realizes the effect of synergy driving of fingers with two motors matched with each other by employing two lead screw motors, a screw drive force-amplifier, a connecting rod transmission mechanism, an overrun clutch and a spring; a finger device is high in grabbing speed, and great in grabbing force and accurate in grabbing action; and simultaneously, the finger device is freely switched among major grabbing modes and suitable for being used as the finger parts of the hands of the ingenious robot.

Description

technical field [0001] The invention belongs to the technical field of robot hands, and in particular relates to a structural design of a link-type cooperatively driven 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, the grip strength of the robot hand can be strengthened through the transmission mechanism with a large reduction ratio, but it will slow down the grip speed of the robot hand and affect its dexterity; Will have a negative impact on its grip strength. At the same time, the robot hand requires a small size, so it is difficult to use a large and powerful motor. There are still many technical problems in this field. [0003] The so-called cooperatively driven robot finger device refers to a robot finger device in which at least one motor drives two or more joints, and at least one joint can be ...

Claims

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Application Information

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IPC IPC(8): B25J15/08B25J17/02
Inventor 张驰张文增
Owner TSINGHUA UNIV
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