Open-chain flexible component parallel clamping type adaptive robot finger device

Abstract

An open-chain flexible component parallel clamping type adaptive robot finger device belongs to the technical field of robot hands. The open-chain flexible component parallel clamping type adaptive robot finger device comprises a chassis, two finger sections, two joint shafts, a driver, two flexible components, four driving wheels with reasonably arranged radii, a lug dial, two spring components and a limit lug. The device comprehensively realizes parallel clamping and universal grabbing functions. According to different target object shapes and positions, the second finger sections can move in parallel so as to pinch objects, and the first finger sections and the second finger sections can also be sequentially rotated so as to envelop objects in different shapes and sizes. Due to the adoption of a master-slave driving mode with two sets of driving wheel systems, the device is large in grabbing range and free of movement dead zones; and at the same time, due to the adoption of an underactuation mode, two joints are driven by utilizing one driver, and complicated sensing and control systems are not required. The device is compact in structure, small in size, low in manufacture and maintenance costs and suitable for robot hands.

Description

technical field [0001] The invention belongs to the technical field of robotic hands, and in particular relates to a structural design of an adaptive robot finger device with open-chain flexible flat clips. Background technique [0002] The adaptive underactuated robot hand uses a small number of motors to drive joints with multiple degrees of freedom. Due to the small number of motors, the motors hidden in the palm can choose larger power and volume, and the output is large. At the same time, the purely mechanical feedback system does not need to be sensitive to the environment. It can achieve stable grasping, automatically adapt to objects of different shapes and sizes, does not require real-time electronic sensing and closed-loop feedback control, and is simple and convenient to control, reducing manufacturing costs. However, the traditional underactuated robot hand mostly adopts the link mechanism. Due to the limitation of the mechanism, the finger segment has an extreme...

AI Technical Summary

Problems solved by technology

[0004] An existing double-joint co-direction transmission composite underactuated robot finger device, such as Chinese patent CN102161204B, can realize the function of coupling and rotating multiple joints first, and then adaptively grasping. Dead zone, small grasping range; when grasping an object, the object must initially be close to the base and the proximal finger segment, which reduces the grasping efficiency; parallel pinching cannot be implemented

Its disadvantages are that the device adopts a link mechanism, which has a motion dead zone, a small grasping range, a large body, an unpersonal appearance, a lack of flexibility, and high manufacturing costs.

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