Tendon-connecting rod hybrid transmission type three-degree-of-freedom mechanical finger and control method

A technology of mechanical fingers and middle fingers, applied in the field of industrial robots, can solve the problems of less freedom and poor adaptability to the space environment, and achieve the effects of improving reliability, saving quantity and reducing costs.

Active Publication Date: 2016-11-16
BEIJING INST OF SPACECRAFT SYST ENG
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The disadvantage of this finger is that it has less degrees of freedom, and beca

Method used

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  • Tendon-connecting rod hybrid transmission type three-degree-of-freedom mechanical finger and control method
  • Tendon-connecting rod hybrid transmission type three-degree-of-freedom mechanical finger and control method
  • Tendon-connecting rod hybrid transmission type three-degree-of-freedom mechanical finger and control method

Examples

Experimental program
Comparison scheme
Effect test

specific Embodiment approach 1

[0038] When the driving tendon J1 is pulled, the proximal knuckle housing 3-3 and the base knuckle housing 2-1 undergo relative bending rotation, which is manifested as that the proximal knuckle housing 3-3 is relative to the base knuckle housing 2-1 bending movement;

[0039] When the driving tendon J2 is pulled, the proximal knuckle housing 3-3 and the base knuckle housing 2-1 are relatively expanded and rotated, which is manifested as that the proximal knuckle housing 3-3 is relative to the base knuckle housing 2-1 When the driving tendon J3 is pulled, the middle knuckle shell 4-1 and the proximal knuckle shell 3-3 are relatively bent and rotated, showing that the middle knuckle shell 4-1 is relative to the proximal knuckle shell 3 -3 bending movement, since the middle knuckle shell 4-1 and the far knuckle shell 5-1 realize the coupling linkage through the connecting rod 4-3, so the middle knuckle shell 4-1 and the proximal knuckle shell When relative bending and rotation ...

specific Embodiment approach 2

[0040] Specific implementation plan two: combine figure 1 , figure 2 This embodiment will be described. When the driving tendons J1 and J2 are pulled at the same time, the base knuckle housing 2-1 will rotate around the rotation axis 1-7 relative to the base bracket 1-6, and the fingers will rotate around the rotation axis 1-7 along the pulling force. The lateral deflection of the generated moment direction (clockwise lateral deflection); when the driving tendons J3 and J4 are pulled simultaneously, the base knuckle housing 2-1 will rotate around the rotation axis 1-7 relative to the base bracket 1-6 The rotation of the finger is manifested as the lateral deflection (counterclockwise lateral deflection) of the finger along the moment direction generated by the pulling force around the rotation axis 1-7.

specific Embodiment approach 3

[0041] Embodiment 3: When the fingers are bent, unfolded, and sideways as described in Embodiments 1 and 2, the rotation angle and rotation speed of the middle knuckle housing 4-1 relative to the proximal knuckle housing 3-3 pass through The encoder 3-6 measures; the rotation angle and the rotation speed of the proximal knuckle housing 3-3 relative to the base knuckle housing 2-1 are measured by the encoder 2-5; the base knuckle housing 2-1 is relative to the base knuckle housing The rotation angle and rotation speed of seat bracket 1-6 are measured by encoder 1-13; the driving tension of driving tendon J1, J2, J3, J4 is carried out by tension sensor 1-1, 1-2, 1-3 and 1-4 Measurement: the six-dimensional force sensor 5-2 installed on the far knuckle shell 5-1 realizes the measurement of the contact force between the far knuckle cover 5-3 and the grasped object. The information measured by these sensors is passed to the control system for controlling the movements of the finger...

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Abstract

The invention discloses a tendon-connecting rod hybrid transmission type three-degree-of-freedom mechanical finger and a control method. A tendon driving mode is adopted for driving all joints of the finger, a driving motor can be arranged on the rear portion, and the condition that the driving motor is arranged in a narrow space of the finger is avoided; higher driving force compared with that of traditional transmission modes such as gears, chains and belts can be provided under the same structural size limitation; and knuckles drive a far knuckle through connecting rod coupling, linkage of the far knuckle and a middle knuckle is achieved, and the far knuckle and the middle knuckle are made to have certain relative motion relation, so that control over two joints of the middle knuckle and the far knuckle is achieved by using one motor. Grabbing of the finger is achieved, and the number of the driving motor is decreased; and four driving sources are adopted for achieving three degrees of freedom of the finger, for example folding, unfolding and side deviation, a tensioning mechanism in tendon driving is omitted by the driving mode, the finger structure is simplified, the cost is reduced, and the reliability is improved.

Description

technical field [0001] The invention belongs to the technical field of industrial robots, and in particular relates to a three-degree-of-freedom mechanical finger and a control method of a tendon-connecting rod hybrid transmission. Background technique [0002] The mechanical finger is the core component of the manipulator, and the manipulator is an important actuator for grasping operations in the industrial field or the space field. The manipulator can perform fine and dexterous operations, and complete grasping, screwing, plugging, moving, alignment, etc. Typical operations, which are representative of both ground and space missions. When the mechanical finger is used in industrial production and space environment, the mechanical finger should be as simple as possible in structure, stable and reliable in performance, and have the sensors needed to realize the grasping operation. [0003] At present, the driving method of mechanical fingers is mainly based on the direct d...

Claims

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Application Information

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IPC IPC(8): B25J9/10B25J13/00B25J15/00
CPCB25J9/1075B25J13/00B25J15/0009
Inventor 赵志军高升王耀兵王捷
Owner BEIJING INST OF SPACECRAFT SYST ENG
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