Adaptive underactuated robotic hand device with double-ring rotating multi-finger flat gripper

Abstract

The invention provides a double-ring rotating multi-finger parallel clamping self-adaptive under-actuated robot hand device, and belongs to the technical field of robot hands. The double-ring rotating multi-finger parallel clamping self-adaptive under-actuated robot hand device comprises a base, an actuator, at least two fingers, a driving shaft, a driving wheel, two spring parts, two gears, an inner ring gear ring, an inner ring, a driving stirring disk, a driven stirring disk, an outer ring gear ring, an outer ring, a limiting block and the like. According to the device, the function that a plurality of robot fingers conduct parallel clamping and self-adaptive capture is fulfilled by the use of the double rotatable rings and a link mechanism; the single actuator is used for driving a plurality of joints of the fingers, and the mode of parallel clamping and the mode of self-adaptive capture can be automatically switched according to the differences of the object shapes and the positions; second finger sections can be horizontally moved to clamp objects, the device can also automatically rotate the second finger sections to make contact with the objects after first finger sections make contact with the objects, the greater-strength holding effect is obtained is achieved, and the device can automatically adapt to capture of the objects with different shapes and sizes; and the self-adaptive enveloping direction is perpendicular to the finger extension direction, and capture is stable and reliable.

Description

technical field [0001] The invention belongs to the technical field of robot hands, and in particular relates to a structural design of a double-ring rotating multi-finger flat clip self-adaptive underactuated robot hand device. Background technique [0002] Robotics is one of the important trends in current technological development. Robots replace manual work to rely on robotic hands. At present, many robot hands that have been developed mainly imitate the structure of human hands, which are composed of multiple fingers and palms, and each finger has more than 2 joints. This kind of hand is called multi-fingered hand. In industry, multifingered hands have a very wide range of applications. Polyfingered hands are divided into underactuated hands and dexterous hands. The dexterous hand has multiple fingers actively driven and controlled and multiple joints on each finger, which can better imitate the human hand and achieve the effect of stably grasping objects. The grasp...

AI Technical Summary

Problems solved by technology

Its shortcoming is that the device can only realize the arc parallel clamping function, and cannot realize the straight line parallel clamping function. When clamping thin plate objects of different sizes on the workbench, the movement of the robot arm is needed to cooperate with the grasping. Therefore, There are serious deficiencies in grasping; the device adopts a multi-link mechanism, and there is a large dead zone in the movement, and the grasping range is small

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