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Under-actuated self-adaptive mechanical arm

An adaptive, manipulator technology, applied in the field of robotics, can solve problems such as not being able to meet the requirements of multi-tasking and high adaptability, and achieve the effects of easy manufacturing and maintenance, light weight, and easy clamping

Inactive Publication Date: 2014-11-12
SOUTHWEST JIAOTONG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The purpose of the present invention is to provide an under-actuated adaptive manipulator, which can effectively solve the problem of being able to adapt to the shape and size of the grasped object, thereby overcoming the shortcomings of equipment versatility and inability to meet the requirements of multi-task and high adaptability

Method used

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  • Under-actuated self-adaptive mechanical arm

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Embodiment Construction

[0021] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0022] An underactuated adaptive manipulator, including a base, a first transmission mechanism, a second transmission mechanism, and a third transmission mechanism, the base is composed of a palm plate 1 and four fixed supports 2, and the centroid of the palm plate 1 is vertical A support arm 3 is provided, and fixed supports 2 are respectively provided at both ends of the palm plate 1, and the slider 4 is connected to the support arm 3 through a cylindrical pair;

[0023] The transmission rod one 5 of the first transmission mechanism is a long straight rod, and one end thereof is connected with the slide block 4 by a hinge, and the other end is connected with the transmission rod two 6 of the second transmission mechanism by a hinge;

[0024] The transmission rod two 6 of the second transmission mechanism is a short straight rod, one...

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Abstract

The invention discloses an under-actuated self-adaptive mechanical arm, and belongs to the technical field of robots. The under-actuated self-adaptive mechanical arm can effectively achieve the purpose of self-adaptability to the shape and the size of a grasped object. A base is composed of a palm plate 1 and four fixed supports 2, a supporting arm 3 is vertically arranged in the form center position of the palm plate 1, the fixed supports 2 are arranged at the edges of the two sides of the two ends of the palm plate 3 respectively, and a sliding block 4 is connected with the supporting arm 3 through a cylindrical pair. Each first transmission rod 5 of a first transmission mechanism is connected with the sliding block 4 through a hinge, and each second transmission rod 6 is connected with the corresponding first transmission rod 5 through a hinge. Each second transmission rod 6 of a second transmission mechanism is a short straight rod, each third transmission rod 7 is an inequilateral right-angle rod, each fourth transmission rod 8 of a third transmission mechanism is an inequilateral right-angle rod, one end of each fourth transmission rod is connected with a corresponding first finger section 10 and a corresponding second finger section 11 through hinges, the right-angle part of each fourth transmission rod is connected with the corresponding transmission rod 7 through a hinge, and the other end of each fourth transmission rod is connected with a corresponding fifth transmission rod 9 through a hinge. The two ends of each fifth transmission rod are connected with the corresponding fourth transmission rod 8 and a corresponding third finger section 12 respectively. The under-actuated self-adaptive mechanical arm is mainly used for the robots.

Description

technical field [0001] The invention belongs to the technical field of robots, in particular to the manufacturing technology of an underactuated manipulator. Background technique [0002] At present, robot technology has been greatly developed and widely used in many fields such as industrial production, space and ocean exploration, national defense construction and people's life. However, in today's highly complex working environment, ordinary clamping devices are far from being able to meet the requirements of various dexterous and fine operation tasks. Robotic hands are generally divided into two categories: special-purpose and general-purpose. The special-purpose manipulator mechanism is relatively simple and easy to control, but it is only suitable for a small number of objects with specific shapes, lacks versatility, and cannot meet the requirements of multi-tasking and high adaptability. General-purpose manipulators generally use a large number of joints in series f...

Claims

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Application Information

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IPC IPC(8): B25J15/10
Inventor 张祖涛孟冠军丁维高刘富涛陈晓昊王岩黄熙罗典媛王培俊
Owner SOUTHWEST JIAOTONG UNIV
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