Connecting-rod-type underactuated robot finger mechanism with all-rotational joints

Abstract

The invention relates to a connecting-rod-type underactuated robot finger mechanism with all-rotational joints and aims to solve the problem that the conventional finger mechanism is small in grasping force and not easy to manufacture and maintain. The finger mechanism is characterized in that the upper part of a first connecting rod is hinged to a second connecting rod; the lower part of the first connecting rod is hinged to a third connecting rod driven by a motor and a speed reducer; the tail end of the third connecting rod is hinged to a fourth connecting rod; a spring is mounted between the third connecting rod and the fourth connecting rod; the tail end of the fourth connecting rod is hinged to a fifth connecting rod and a seventh connecting rod respectively; a spring is mounted between the fifth connecting rod and the seventh connecting rod; a sixth connecting rod which takes the shape of an non-isosceles triangle I with a big obtuse angle is hinged between the tail end of the fifth connecting rod and the tail end of the second connecting rod; the vertex angle of the non-isosceles triangle I is hinged to the tail end of the second connecting rod; the short-edge base angle of the non-isosceles triangle I is hinged to the tail end of the fifth connecting rod; the long-edge base angle of the non-isosceles triangle I is hinged to an eighth connecting rod which takes the shape of an non-isosceles triangle II with a small obtuse angle; the vertex angle of the non-isosceles triangle II is hinged to the long-edge base angle of the non-isosceles triangle I; the short-edge base angle of the non-isosceles triangle II is hinged to the tail end of the seventh connecting rod. The finger mechanism has the advantages that the grasping force is large; the adaptability is good; the drive and the control are simple; the manufacture and the maintenance are easy.

Description

technical field [0001] The invention relates to an anthropomorphic robot, in particular to a full-rotation joint link type underactuated robot finger mechanism. Background technique [0002] The robot needs to complete various tasks through hand operation, and the dexterous hand is an important part of the robot, so the finger mechanism has become a key technology in the field of robotics. In order to make the humanoid robot fingers small in size and light in weight, have more degrees of freedom and be easy to control. Robotic fingers can be designed as underactuated with fewer actuators than degrees of freedom. Underactuated finger grips achieved using tendon-actuated or friction wheels have little force. The link type underactuated finger mechanism provided by the invention realizes the underactuated anthropomorphic finger with compact structure and high gripping force, and the finger can adaptively grasp objects of different shapes and sizes. And because all the rotati...

AI Technical Summary

Problems solved by technology

[0004] The main problem with this device is that the grip achieved by the fingers is very small, not even as good as that provided by tendon-driven fingers

[0007] The main problem with this device is that the important part involved, the sliding joint inside the second knuckle, is difficult to fabricate and maintain

[0008] The reason for the above problems in this device is that the second knuckle contains a sliding joint, and the sliding joint needs to move inside the anthropomorphic knuckle, so the design size of the sliding joint is greatly limited

The sliding joint needs to be connected with a key part of the device: the auxiliary return spring, which makes the design, assembly, manufacture and maintenance of the second knuckle more difficult and costly

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