Connection rod key slot type coupling under-actuated double-joint robot finger device

A robot finger and double-joint technology, applied in the field of humanoid robot hands, can solve the problems of increased device instability and complex structure

Inactive Publication Date: 2015-02-18
TSINGHUA UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

This device combines the advantages and disadvantages of the previous devices to better realize the coupled under-actuated grabbing mode, but the structure is complicated (four connecting rods as the transmission mechanism and two springs), which increases the instability of the device

Method used

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  • Connection rod key slot type coupling under-actuated double-joint robot finger device
  • Connection rod key slot type coupling under-actuated double-joint robot finger device
  • Connection rod key slot type coupling under-actuated double-joint robot finger device

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Embodiment Construction

[0035] The specific structure and working principle of the present invention will be further described in detail below with reference to the accompanying drawings and embodiments.

[0036] An embodiment of the link keyway type coupling underactuated robot finger device designed in the present invention, such as figure 1 , figure 2 , image 3 , Figure 4 , Figure 5 ,and Image 6 As shown, it includes a base 2, a motor 11, a reducer 12, a first finger segment 3, a second finger segment 4, a distal joint shaft 31, a proximal joint shaft 8 and a coupling transmission mechanism; the motor 11 and the base 2 Fixed connection, the output shaft of the motor 11 is connected with the input shaft of the reducer 12; the proximal joint shaft 8 is sleeved in the base 1, and the distal joint shaft 31 is fixed on the first joint shaft. In the finger segment 3; the first finger segment 3 is sleeved on the proximal joint shaft 8, and the second finger segment 4 is sleeved on the distal jo...

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Abstract

A connection rod key slot type coupling under-actuated double-joint robot finger device belongs to the technical field of personification robot hand design. The device comprises a base, a motor, a speed reducer, a first finger section, a second finger section, a far joint shaft, a near joint shaft and a coupling transmission mechanism. The coupling transmission mechanism comprises a connection rod, a push rod and a connection shaft. The device comprehensively achieves effective blending of coupling grabbing effect and self-adapting under-actuated grabbing effect in the mode of key slot transmission and spring decoupling. The device only adopts two connection rods to form the transmission mechanism, is simple in structure and achieves the coupling self-adapting grabbing effect through only one spring. The appearance of the fingers and action for grabbing objects are similar to human fingers. The device is low in requirement for a control system and is suitable for serving as fingers of common personification robot hands.

Description

technical field [0001] The invention belongs to the technical field of anthropomorphic robot hands, in particular to a mechanism design of a connecting rod keyway type coupling underactuated double-joint robot finger device. Background technique [0002] Since the era of Leonardo da Vinci, people have begun to try to simulate the human palm, and today there is a demand for robotic hands in various fields of medicine, aerospace, and manufacturing. When people invest a lot of experience to develop a new generation of robotic hands, the functions of robotic hands have a tendency to diversify according to different uses in their respective fields. One of the major categories is the machines for efficient and stable grasping hand. [0003] Since the purpose is grasping and does not require precise control of the grasping process, the development of the fingers of this type of hand mainly revolves around two modes, one is the "coupled" grasping mode and the other is the "underact...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J15/06B25J17/02
CPCB25J15/0009
Inventor 潘泽浩张文增
Owner TSINGHUA UNIV
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