Under-actuated mechanical hand with self-adaptive shape

Abstract

The invention discloses an under-actuated mechanical hand with a self-adaptive shape. The under-actuated mechanical hand comprises an installation shell, a power mechanism, a transmission mechanism and at least two mechanical fingers. The mechanical fingers surround a symmetry axis. The power output end of the power mechanism is connected with the power input end of the transmission mechanism. The power output end of the transmission mechanism is connected with the near ends of the mechanical fingers. The far ends of the mechanical fingers can move to be close to or far from the symmetry axis to be opened and closed. Each mechanical finger comprises at least two knuckles so that the mechanical finger can be bent to adapt to the shape of a clamped object. The under-actuated mechanical hand is high in freedom degree, and can be applied to clamping objects of different shapes and sizes in a large range; an under-actuated structure is adopted by the mechanical fingers, the number of the power mechanism is smaller than that of the freedom degree, and compared with an existing mechanical hand, the under-actuated mechanical hand is simpler in structure.

Description

technical field [0001] The invention relates to an execution device of a robot or other automatic machinery and equipment, in particular to a shape-adaptive underactuated manipulator. Background technique [0002] The manipulator is the executive device of automatic equipment such as robots. It is used to imitate the actions of human hands and perform actions such as grabbing objects. At present, ordinary manipulators can realize simple opening and closing actions, and the shapes and sizes of the objects that are suitable for clamping have different shapes and sizes. Larger limitations, advanced manipulators can achieve some flexible functions similar to human hands, but there are also the following shortcomings: a large number of motors, large volume, complex mechanism, difficult real-time control, and high manufacturing, use, and maintenance costs. Expensive etc. Contents of the invention [0003] The object of the present invention is to provide a manipulator with simp...

AI Technical Summary

Problems solved by technology

[0002] The manipulator is the executive device of automatic equipment such as robots. It is used to imitate the actions of human hands and perform actions such as grabbing objects. At present, ordinary manipulators can realize simple opening and closing actions, and the shapes and sizes of the objects that can be clamped have different shapes and sizes. Larger limitations, advanced manipulators can achieve some flexible functions similar to human hands, but there are also the following shortcomings: a large number of motors, large volume, complex mechanism, difficult real-time control, and high manufacturing, use, and maintenance costs. expensive etc.

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