Wide-range grabbing under-actuated multi-adaptive manipulator

Abstract

The invention discloses a wide-range grabbing under-actuated multi-adaptive manipulator. The wide-range grabbing under-actuated multi-adaptive manipulator comprises a support frame and a single-finger mechanism; the single-finger mechanism includes a cylinder base, a cylinder, a front knuckle, a middle knuckle, a terminal knuckle, a first connecting rod, a second connecting rod, a V-shaped connecting rod and a third connecting rod; when the cylinder drives and pushes joints to move forwards, the second connecting rod is used for urging the V-shaped connecting rod to overturn forwards, and the third connecting rod is used for applying thrust to the front knuckle to enable the single-finger mechanism to locate in a folding state; and when the cylinder drives and pushes the joints to move backwards, the second connecting rod is used for urging the V-shaped connecting rod to overturn backwards, and the third connecting rod is used for applying tension to the front knuckle to enable the single-finger mechanism to locate in an opening state. The wide-range grabbing under-actuated multi-adaptive manipulator can realize wide-range grabbing, and has such beneficial effects as simple structure, good reliability, easiness in popularization and application and convenience for maintenance and replacement.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a large-scale grasping underactuated multi-adaptive manipulator. Background technique [0002] A manipulator is an automatic operating device that can imitate certain movement functions of the human hand and arm to grab, carry objects or operate tools according to a fixed program. Regarding the technology of manipulators, Canadian MDROBOTICS and Laval University have jointly developed the non-humanoid hand universal underactuated gripper SARAH, and as an adaptive auxiliary space swapping tool, the opening and closing and reversing tasks of its fingers are controlled by strong and controllable forces. The torque motor control can be used to perform a variety of spatial grasping tasks. This kind of gripper has 10 degrees of freedom, 3 fingers, each finger has 3 joints, and an additional rotational degree of freedom. The entire gripper only It is driven by two motors, one motor is r...

AI Technical Summary

Problems solved by technology

[0003] 1. Although the existing dexterous manipulators and underactuated manipulators have strong degrees of freedom and adaptability, their structures are too complicated, and structural optimization requires very professional means and knowledge;

[0004] 2. The three joints in the existing link-type underactuated manipulator can rotate, and generally realize the envelope grabbing action, while pinching needs to add a parallelogram link auxiliary mechanism. In order to ensure reliability during operation, an additional Multiple springs, multiple limit and other mechanisms ensure reliable operation, complex structure and high manufacturing cost;

[0005] 3. The existing link-type underactuated manipulator has many sensors and complex drive structure, resulting in complex control system and high cost

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