Bending self-locking pneumatic under-actuated robot finger device

Abstract

The invention relates to a bending self-locking pneumatic under-actuated robot finger device, and belongs to the technical field of humanoid robot hands. The device comprises a first finger section, a second finger section, an under-actuated joint, a motor, a transmission mechanism, a locking mechanism and a first spring piece. The transmission mechanism comprises a tendon rope and a winding reel. The locking mechanism comprises a ratchet wheel oscillating bar, a pawl, a rotating shaft and a second spring piece. The device achieves a self-adaptive under-actuated effect by adopting a pneumatic mode; one-way bending is achieved by adopting a ratchet wheel and the pawl, and an object is prevented from getting loose when an counteraction face is withdrawn or vibration interference occurs; stable grasping force applied to the object by the second finger section is generated through the deformation of the spring pieces, and thus form sealing and force sealing grasping is achieved; the restraint to the ratchet wheel by the pawl is relieved through the motor, and thus the object is released; the device is simple in structure, small in size, low in weight, low in manufacturing and maintaining cost and similar to the fingers of the human hands.

Description

technical field [0001] The invention belongs to the technical field of anthropomorphic robot hands, in particular to a structural design of a bending self-locking pneumatic 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 and mechanisms, it can flexibly complete most of the actions that the human hand can complete. However, the dexterous hand is expensive, difficult to manufacture and control, and difficult to maintain. The under-actuated hand can grasp objects adaptively, with little control di...

AI Technical Summary

Problems solved by technology

[0005] The device can use the extrusion force of the object to pneumatically drive the second finger section to rotate around the joint axis during the process of the object squeezing the active slider. However, when the object does not squeeze the active slider, the second finger section Will return to the straightened initial state, so the device cannot perform grasping of objects where the reaction surface is withdrawn during the grasping process

For example, if an object is placed on the table, when the finger mounted on the robotic arm is close to the object, the object will squeeze the active slider and cause the finger to bend. Fetch failed

On the other hand, although the device achieves an adaptive envelope effect on the shape when grasping objects, it does not generate a grasping force, and thus does not realize force-closed and stable grasping. Envelope to achieve a stable grip

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