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Magnetorheological fluid-assisted flexible palm adaptive underactuated robotic hand device

A magneto-rheological fluid and robotic hand technology, applied in the field of robotics, can solve the problems of difficult miniaturization, high cost, and high noise, and achieve the effects of enhanced reliability, low maintenance cost, and compact structure

Inactive Publication Date: 2020-09-25
TSINGHUA UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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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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  • Magnetorheological fluid-assisted flexible palm adaptive underactuated robotic hand device
  • Magnetorheological fluid-assisted flexible palm adaptive underactuated robotic hand device
  • Magnetorheological fluid-assisted flexible palm adaptive underactuated robotic hand device

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Embodiment Construction

[0039] The specific structure, working principle and working process of the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments.

[0040] An embodiment of a magneto-rheological fluid-assisted flexible palm surface self-adaptive underactuated robot hand device designed by the present invention, such as figure 1 , figure 2 , image 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 , Figure 8 , Figure 9 , Figure 10 , Figure 11 , Figure 12 , Figure 13 , Figure 14 , Figure 15shown. This embodiment includes a flexible member 33, at least one tendon rope 32, at least two fingers 35, at least one channel 34, a coil 51, a magnetorheological fluid 52, at least one driver 21, and a base 11; the flexible member 33 The middle part is fixedly connected with the base 11, and the inside of the flexible member 33 is sealed with magnetorheological fluid 52; the finger 35 is arranged on the flexible memb...

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Abstract

The invention discloses a magnetorheological fluid auxiliary flexible palm side self-adaption underactuated robot hand device, and belongs to the technical field of robots. The device comprises a flexible part, a tendon rope, fingers, a channel, coils, magnetorheological fluid, a driver and a base. The flexible part is of a cloth or net or film thin-wall structure, and the magnetorheological fluid is sealed inside the flexible part; the channel and the coils are arranged on the flexible part; and one end of the tendon rope is fixedly connected with an output shaft of the driver, and the other end of the tendon rope penetrates the channel and is fixedly connected with the tail end of the channel. According to the device, the tendon rope is utilized for pulling the channel, and the flexible part closes up a sealing opening, and the self-adaption grabbing function for objects in different shapes and with different sizes is achieved; elasticity of the fingers is utilized, the flexible part is kept in the optimum grabbing posture, and the flexible part can be reset; the characteristic that the magnetorheological fluid is solidified in a magnetic field is adopted, the grabbing form is fixed in an auxiliary manner, and reliable grasping is achieved; and according to the device, a few drivers are used for driving the multiple fingers, and the device is simple in structure and low in manufacturing and maintenance cost.

Description

technical field [0001] The invention belongs to the technical field of robots, in particular to a structural design of a magneto-rheological fluid-assisted flexible palm-surface self-adaptive underactuated robotic 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 different use occasions, it can be divided into two types of robot hands: anthropomorphic manipulator and general gripper. Anthropomorphic robotic hands are similar to human hands and are mainly used as prosthetics 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 rope-driven humanoid robot SmartHand (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 Patents(China)
IPC IPC(8): B25J15/00
Inventor 莫岸景甜甜张文增刘庆运徐向荣
Owner TSINGHUA UNIV
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