Rod-wheel combined type coupling self-adapting under-actuated robot finger device

Abstract

The invention discloses a rod-wheel combined type coupling self-adapting under-actuated robot finger device, and belongs to the technical field of robot fingers. The rod-wheel combined type coupling self-adapting under-actuated robot finger device comprises a pedestal, a driver, two finger sections, two joint shafts, two transmission wheels, a transmission part, two connecting rods, a rotary shaft, a pulling block and a spring part. According to the device, the function of gripping an object in a coupling self-adapting manner is realized by combining the double transmission wheels, the 8-shaped transmission part, the swinging double connecting rods which are in sliding inlay, a sleeved and mobile middle finger section, the spring part and the like; the device can imitate a gripping mode of a hand during gripping as follows: the first finger section and the second finger section can simultaneously rotate, the rotation speed of the far joint is greater than that of the near joint, the object is gripped in a self-adapting enveloping manner, and the self-adaption to the shape and the dimension of the gripped object are achieved; the gripping range is great, the two finger sections are uniform in stress, the gripping is stable; and meanwhile, the rod-wheel combined type coupling self-adapting under-actuated robot finger device has an anthropopathic appearance, has flexibility and a compact structure, so that the driving of two joints is realized by only needing one spring part and only using one driver.

Description

technical field [0001] The invention belongs to the technical field of robotic hands, and in particular relates to a structural design of a rod-wheel compound coupling self-adaptive underactuated robot finger device. Background technique [0002] As the end effector of the robot, the robot hand is one of the most important parts of the robot. The human hand has the characteristics of many degrees of freedom, small size, large output, and multiple grasping modes. Therefore, imitating the human hand has always been a popular research direction for robotic hands. The existing dexterous hand is the robot hand with the highest degree of closeness to the human hand. It has a lot of active control degrees of freedom and many grasping modes, but the control is very complicated, it is difficult to adapt to unknown environments, and the system is expensive. At the same time, due to the large number of motors, the motors need to be made very small, resulting in small output of dextero...

AI Technical Summary

Problems solved by technology

Although this device can realize the function of coupling and rotating multiple joints first, and then adaptively grasping, its disadvantage is that the device requires too many transmission wheels, spring parts and flexible parts, and the mechanism is complicated. "Σ" The stability of the shape transmission parts is not high, and the installation is difficult

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