Seven-link parallel pinch grip composite adaptive robot finger device

Abstract

The seven-link parallel pinch-grip composite self-adaptive robot finger device belongs to the field of robot hand technology and includes a driver, a base, two finger sections, four rods, six shafts, a spring and a limit block. The proximal joint shaft and the first driving shaft are sleeved in the base, the first rotating shaft is sleeved on the first parallel rod, the second rotating shaft is sleeved in the first finger segment, and the distal joint shaft and the second driving shaft are sleeved on the In the second finger section, the first finger section and the first parallel rod are socketed on the proximal joint shaft, the two ends of the driven rod are respectively socketed on the first rotating shaft and the distal joint shaft, and the two ends of the second parallel rod are respectively socketed on the The distal joint shaft and the second rotating shaft, and the two ends of the driving rod are respectively sleeved on the first driving shaft and the second driving shaft. The device realizes the special function of pinch-grip composite self-adaptive grasping of objects: it can not only pinch the second finger segment in parallel, but also can adaptively grasp the envelope; the far joint axis can be translated, the grasping range is large, and the motion dead zone is small ;Small size, anthropomorphic appearance, simple and reliable structure, no need for sensor and control system.

Description

technical field [0001] The invention belongs to the technical field of robot hands, and in particular relates to the structural design of a seven-link parallel pinching and gripping composite self-adaptive robot finger device. Background technique [0002] The human hand has the characteristics of many degrees of freedom, small size, large output, and multiple grasping modes, which brings difficulties to the development of anthropomorphic robot hands that imitate human hands. The robotic hand can grasp objects and manipulate them by moving the platform and arms. The existing dexterous hand is the most high-end device that imitates the human hand. It has a lot of active control degrees of freedom and flexible movements. However, the control is very complicated, and the system is relatively expensive. Complicated programming is required, different programming is required for grasping different objects, the cost is high, the output is small, and the adaptability requires the u...

AI Technical Summary

Problems solved by technology

[0005] An existing double-joint co-direction transmission compound underactuated robot finger device, such as Chinese patent CN102161204B, can realize the function of coupling and rotating multiple joints first, and then adaptively grasping. The picking range is small; when grabbing an object, the object must initially be close to the base and the proximal finger segment, which reduces the grabbing efficiency; parallel pinching cannot be implemented

Its disadvantages are that the grabbing range of the device is small, the mechanism is bulky, the appearance is not anthropomorphic, the lack of flexibility, and the manufacturing cost is high.

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