Flexible Adaptive Underactuated Robot Gripper

Abstract

The invention relates to a hand, in particular to a flexible self-adaption under-actuated robot hand. The flexible self-adaption under-actuated robot hand comprises fingers and a wrist; the wrist includes a skeleton, a direct-current motor, a potentiometer and a winch; the direct-current motor is fixedly connected to a motor mounting surface of the skeleton; the potentiometer is fixedly connected to a potentiometer mounting surface of the skeleton by penetrating through an output shaft of the motor; the winch is fixedly connected to the tail end of the output shaft of the motor; multiple fingers are provided; and the fingers are embedded in clamping grooves of the skeleton or multiple clamping grooves through convex blocks of rotating bodies. The flexible self-adaption under-actuated robot hand is assembled at the tail end of an industrial robot for assisting mechanical assembly or mechanical manufacturing process and finishing automatic workpiece loading / unloading; and the fingers can flexibly adapt to geometric shapes of products, and realize automatic adjustment according to the geometric shapes of workpieces to realize stable grabbing.

Description

technical field [0001] The invention relates to a gripper, in particular to a flexible self-adaptive underactuated robot gripper. Background technique [0002] As one of the key components of the robot, the gripper is the last link and execution component of the interaction between the robot and the environment, and its performance determines the working performance of the entire robot to a large extent. [0003] The design of the mechanical part of industrial robots is an important part of industrial robot design. Although industrial robots are different from special equipment, they have strong flexibility, but it is unrealistic to design and manufacture universal robots. The differences in the mechanical system design of industrial robots in different application fields are much greater than the differences in other system designs of industrial robots. The hand of a robot used in industry is generally called an end effector, which is a component that the robot directly us...

AI Technical Summary

Problems solved by technology

[0003] The design of the mechanical part of industrial robots is an important part of industrial robot design. Although industrial robots are different from special equipment, they have strong flexibility, but it is unrealistic to design and manufacture universal robots.

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