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Flexible palmar self-adaption under-actuation robot hand device

A robotic hand and self-adaptive technology, applied in the field of robotics, can solve the problems of high cost, high noise, high energy consumption, etc., and achieve the effect of compact structure

Inactive Publication Date: 2015-07-01
TSINGHUA UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The disadvantages of this device are: the device is implemented in a pneumatic way, the whole system is bulky, consumes a lot of energy, has high noise, is difficult to miniaturize, and is expensive

Method used

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  • Flexible palmar self-adaption under-actuation robot hand device
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  • Flexible palmar self-adaption under-actuation robot hand device

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Embodiment Construction

[0036] The specific structure, working principle and working process of the present invention will be further described in detail below with reference to the accompanying drawings and embodiments.

[0037] An embodiment of a flexible palm adaptive underactuated robot hand device designed in the present invention, such as figure 1 , figure 2 , image 3 , Figure 4 , Figure 5 , Image 6 , Figure 7 , Figure 8 , Figure 9 , Figure 10 , Figure 11 , Figure 12 , Figure 13 Figure 14 shown. This embodiment includes a flexible member 33, at least one tendon 32, at least two fingers 35, at least one channel 34, at least one driver 21, and a base 11; the middle of the flexible member 33 is fixedly connected to the base 11; The finger 35 is arranged on the flexible member 33; the channel 34 is arranged on the flexible member 33; the driver 21 is arranged in the base 11; one end of the tendon 32 is fixedly connected with the output shaft of the driver 21 , and the oth...

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Abstract

The invention discloses a flexible palmar self-adaption under-actuation robot hand device, and belongs to the technical field of robots. The device comprises a flexible part, a tendon rope, fingers, a passageway, actuators and a base. A thin-walled structure of cloth, a net or a film is adapted by the flexible part, the passageway is arranged on the flexible part, one end of the tendon rope is fixedly connected with output shafts of the actuators, and the other end of the tendon rope penetrates through the passageway and is fixedly connected with the tail end of the passageway. According to the device, the tendon rope is used for pulling the passageway, a sealing opening of the flexible part is drawn, and a self-adaption grabbing function for objects with different shapes and sizes is achieved; the elasticity of the fingers is used by the device, the most suitable grabbing posture is kept by the flexible part, and the restoration of the flexible part is achieved; less actuators are used for driving a plurality of the fingers, the structure is simple, and the manufacture cost and maintenance cost are low.

Description

technical field [0001] The invention belongs to the technical field of robots, and in particular relates to the structural design of a flexible palm surface adaptive underactuated robot hand device Background technique [0002] As the execution terminal of the robot, the robot hand needs to realize two actions of grasping and releasing. According to the different occasions, it can be mainly divided into two categories: anthropomorphic manipulator and universal gripper. The anthropomorphic manipulator is similar to the human hand and is mainly used as a prosthesis for the disabled. Universal grippers are widely used in industry for robots to grip objects on automated production lines. [0003] Christian Cipriani et al. introduced a tendon-driven anthropomorphic manipulator SmartHand in the literature (Cipriani C, et al. Objectives, criteria and methods for the design of the SmartHand transradial prosthesis [J]. Robotica, 2010, 28(06) : 919-927.). The anthropomorphic manip...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J15/00B25J9/10B25J15/10
Inventor 莫岸张文增孙振国都东陈强
Owner TSINGHUA UNIV
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