Flexible part parallel-clamping and coupling switchover self-adaptive robot finger device

Abstract

The adaptive robot finger device with flat clip coupling switching of flexible parts belongs to the field of robotic hand technology, including a base, two finger segments, two joint shafts, a driver, a flexible transmission part, tendon ropes, multiple transmission wheels, half wheels, half Wheel connectors, rotating shafts, half-wheel bumps, two spring parts and limit bumps, etc. The device realizes the function that the robot finger flat clamp adaptive grasping mode and the coupled adaptive grasping mode can be switched easily. In the flat clip adaptive grasping mode, the device can not only translate the second finger segment to pinch the object, but also turn the first finger segment and the second finger segment to envelop objects of different shapes and sizes; in the coupling adaptive In the grasping mode, the device can simultaneously rotate two joints, and naturally turn to the adaptive grasping stage of bending the second finger segment after the first finger segment is blocked from contacting the object; the grasping range is large; the device is compact , small size, low manufacturing and maintenance costs, suitable for robotic hands.

Description

technical field [0001] The invention belongs to the technical field of robot hands, and in particular relates to a structural design of a flat clip coupling switching adaptive robot finger device of a flexible part. Background technique [0002] An underactuated robot hand refers to a robot hand with fewer motors than joints. It has an adaptive grasping function and can adapt to the grasping of various objects. It can be used in different occasions to reduce the need for complex sensing and real-time control. The stability and accuracy of grasping are improved, and at the same time, the device is simple, the cost is low, the quality is small, and the volume is small. It can be widely used in industrial, agricultural and service industry robots or used as a prosthetic hand for disabled people. [0003] Underactuated robotic hands with two degrees of freedom mainly include two basic categories: one is the coupled grasping mode, and the other is the adaptive grasping mode. Amo...

AI Technical Summary

Problems solved by technology

Its shortcoming is that the device can only realize the flat clip adaptive grasping mode, and cannot realize the coupling adaptive grasping mode; in addition, it uses a very complicated multi-link mechanism, and there is a large dead zone in the movement, and the grasping Small range, bulky mechanism, lack of compliance, prohibitively expensive to manufacture

Its shortcoming is that the device can only realize the coupling adaptive grasping mode, and cannot realize the flat clip adaptive grasping mode; in addition, the mechanism is complicated, and installation and maintenance are difficult; there are too many springs, and the springs are used to decouple and adjust the coupling. The contradiction between the transmission mechanism and the adaptive transmission mechanism often makes the deformation of multiple springs larger, resulting in excessive and unnecessary energy loss

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