Magnetorheological fluid indirect-adaptive underactuation robot finger device

Abstract

The invention relates to a magnetorheological fluid indirect-adaptive underactuation robot finger device, which belongs to the technical field of robot hands and comprises two finger sections, magnetorheological fluid, a coil, two spring parts, two flexible parts, a shifting block, a driving slider and a joint shaft. The device realizes the passive adaptive bending and grasping force locking keeping functions of the finger, and can grasp an object placed on a supporting surface. The device utilizes the reactive force of the object to drive the second finger section of the finger to turn around the joint shaft; moreover, by utilizing the solidification characteristic of the magnetorheological fluid in a magnetic field, after the reactive force of the object disappears, the device can still keep the object-holding curved structure of the finger; the device utilizes the spring parts to store and keep deformation elasticity which is generated when the object is squeezed in the beginning, consequently, grasping force which is continuously applied to the object by the second finger section is generated and kept, and a good object grasping effect is realized. The device is structurally simple, small and light, is easy to control, and is low in design, manufacturing, assembly and maintenance costs.

Description

Technical field [0001] The invention belongs to the technical field of robotic hands, and particularly relates to a structural design of a magnetorheological fluid indirect adaptive under-actuated robotic finger device. Background technique [0002] As the output terminal of the robot, the robot hand has been favored and valued by more and more robot researchers. In the field of robotics research, robot hands are mainly divided into two categories: anthropomorphic hands and non-anthropomorphic hands. [0003] An anthropomorphic hand refers to a gripper with fingers, the number of fingers can range from two to more, and the fingers can have one or more joints. Non-anthropomorphic hands, also known as special hands, refer to grippers without fingers, including suction cups, magnets, buckles, hooks, or other devices with temporary connection and grasping functions. [0004] Anthropomorphic hands can be divided into three categories in terms of the number of fingers and the principle o...

AI Technical Summary

Problems solved by technology

Industrial grippers have the following disadvantages: only a small number of grasping modes can be realized by human hands, and multiple modes of grasping objects of more shapes and sizes cannot be achieved, and the versatility is not high

However, the currently developed dexterous hands have many deficiencies: all motors, sensors, controllers, interface modules, and a large number of wires are embedded in the hand, resulting in large volume, high quality, complex systems, and difficulties in multi-finger and multi-joint motion planning. The amount of real-time calculation is large, the gripping force of the end is small, the design, manufacture, assembly and maintenance costs are expensive, and the practicability is not high

[0011] Since the finger needs the supporting surface (such as a desktop), other fingers, palms or other hands to achieve finger bending when grasping objects, the finger cannot grasp objects placed on the supporting surface

When the finger leaves the object, since the object no longer squeezes the active slider, the finger will automatically return to the original straight state and cannot continue to maintain the finger bending state, let alone generate a grip on the object, because the grip The force comes from the extrusion of the object, once the extrusion disappears, the gripping force will automatically disappear, such as Figure 27 to Figure 30 As shown, although the finger can achieve the function of passive adaptive envelope object, but after the finger leaves the object, the finger returns to the original shape, and the grasping fails

In addition, due to the high fluidity of the gas, it is difficult to control, it is easy to retract, and the force of the pneumatic flexible parts to the joints is not enough to lock the joints. When the fingers are grabbing and moving objects, the joints may be loose and the fingers may be unstable.

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