Four-freedom-degree 3SPRR and SP type hybrid flexible hands for robots

Abstract

The invention provides a four-freedom-degree 3SPRR and SP type hybrid flexible hand for robots, which comprises a machine base, a movable platform, connecting rods, an SP type middle linear drive branch and three SPRR type flexible finger-containing drive branches which are of the same structure; the SP type branch is arranged in the center of the movable platform and the machine base, the lower ends of swing rods in the SPRR type branches and the movable platform are connected with first through holes formed in the inner sides of lower frames of arm rests, and linear electric cylinders are connected with second through holes formed in the outer sides of the lower frames of the arm rests and the machine base in a ball pair mode; the upper ends of the swing rods are connected with the lower ends of the fingers, the upper ends of the fingers serve as freedom ends, one end of each guide column is perpendicularly and fixedly connected with the middle of the corresponding swing rod, and the other end of each guide column penetrates through the frame of the corresponding arm rest to serve as a freedom end; the guide columns are sleeved with springs, and the two ends of springs abut against the middles of the swing rods and the inner walls of the frames of the arm rests respectively. The four-freedom-degree 3SPRR and SP type hybrid flexible hand for robots is simple in structure, large in finger posture work space, good in flexibility and capable of flexibly operating gripping and being used in space and deep-sea exploration, forging operation, rescue, medical operations and massage.

Description

technical field

[0001] The invention relates to the field of robots, in particular to a flexible hand of a hybrid robot. Background technique

[0002] The parallel mechanism has the characteristics of large mechanism rigidity, strong bearing capacity, light end mass, small inertia, and no accumulation of position errors. It complements the advantages of serial robots in application. Over the years, the six-degree-of-freedom parallel mechanism has become the main mechanism for constructing various parallel robots / machine tools. Compared with the six-degree-of-freedom parallel mechanism, the four-degree-of-freedom parallel mechanism has the advantages of simpler structure and easier control, and has attracted great attention from experts in recent years. For the convenience of explanation, use n to represent the number of branches, use (S, U, P, R) to represent (ball pair, universal joint, moving pair, rotating pair) in the branch kinematic chain respectively, and their combi...

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