Underactuation type anthropopathic three-finger manipulator

An underactuated and manipulator technology, applied in the field of robotic equipment and multi-fingered manipulators, can solve the problems of increasing system complexity and research difficulty, and achieve the effect of low difficulty in grasping control, simple structure and high reliability

Inactive Publication Date: 2015-07-29
SHANGHAI UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The continuous improvement of dexterous manual operation ability is at the c

Method used

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  • Underactuation type anthropopathic three-finger manipulator
  • Underactuation type anthropopathic three-finger manipulator
  • Underactuation type anthropopathic three-finger manipulator

Examples

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Embodiment Construction

[0027] Preferred embodiments of the present invention are described in detail as follows:

[0028] In this example, see Figure 1-10, an underactuated humanoid three-finger manipulator, including a palm unit 3 and 3 fingers, the palm unit 3 includes a palm 301 and a palm back 302, one of the fingers is a thumb, and the palm unit 3 is provided with 3 driving fingers to bend fingers Micro DC motor 303 and a steering gear 306 for swinging the thumb, the winding 304 is fixedly installed on the output shaft of the micro DC motor 303, each finger all has a finger unit 1, and the finger unit 1 consists of the first phalanx 11, the second knuckle in turn. The second phalanx 12, the third phalanx 13 and the fourth phalanx 14 are connected, and a rotation shaft is arranged between two adjacent phalanxes, so that the finger unit 1 forms a finger joint system with three degrees of freedom, and the fourth phalanx 14 is fixedly connected to the edge of the palm unit 3, and one end of the t...

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Abstract

The invention discloses an underactuation type anthropopathic three-finger manipulator. The underactuation type anthropopathic three-finger manipulator comprises a palm, two fingers and a thumb; each finger comprises four joints which are connected through a spring plate, a finger cover plate and screws; the palm comprises a bottom plate and a cover plate and is used for fixing a motor and the fingers. According to the underactuation type anthropopathic three-finger manipulator, a closed-loop feedback system composed of a force sensor and an angle sensor is used to achieve simple grasping and nipping action. The underactuation type anthropopathic three-finger manipulator is characterized in that single finger is controlled through one motor by a tendon transmission manner on the basis of the underactuation principle, so that the finger can adapt to hold an object while grasping different objects; the underactuation type anthropopathic three-finger manipulator has the advantages of being simple in structure, small in difficulty at grasping control, and high in reliability.

Description

technical field [0001] The invention relates to a robot device, in particular to a multi-fingered robotic hand, which is applied in the technical fields of end grippers and humanoid artificial limbs. Background technique [0002] As an effective extension of human movable limbs, the robotic dexterous hand has been studied by scientists from various countries as one of the hot research directions in the field of robotics since the second half of the 20th century because of its ability to complete flexible and fine grasping operations. Compared with simple end manipulators, robotic dexterous hands have the advantages of strong versatility, rich perception capabilities, and the ability to achieve precise and stable grasping that meets geometric closure and force closure. [0003] With the development of manufacturing technology and sensor and control technology, as an important link in the interaction between robots and the environment in the field of intelligent manufacturing ...

Claims

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Application Information

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IPC IPC(8): B25J15/10B25J17/02
Inventor 徐昱琳袁杰蒋财军丁美昆
Owner SHANGHAI UNIV
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