Adaptive robotic finger device coupled with air-travel transmission link

Abstract

The invention discloses an idle stroke transmission connecting rod coupling self-adaption robot finger device and belongs to the technical field of robot hands. The idle stroke transmission connecting rod coupling self-adaption robot finger device comprises a base, two finger segments, two joint shafts, a driver, a plurality of connecting rods, a transitional transmission mechanism, a middle transmission mechanism, a driving stirring wheel, a driven stirring wheel, a lug driving disk, two spring parts, a limiting lug and the like. The device achieves a coupling and self-adaption combined grabbing mode, the device can link two joints to pinch an object with the tail ends, the action personification degree is high, the first finger segment can be rotated to touch the object first and then the second finger segment is rotated to hold the object in a wrapping manner, the grabbing strength is large, and the effect of self-adaption grabbing of objects in different shapes and sizes is achieved; grabbing is stable and reliable; only one driver is used for driving the two joints, and complex sensing and real-time control systems are not needed; and meanwhile, the structure is simple, the size is small, the weight is low, the machining, assembling and maintaining cost is low, and the idle stroke transmission connecting rod coupling self-adaption robot finger device is suitable for robot 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 free-travel transmission link coupling self-adaptive robot finger device. 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, without the need for real-time sensing and closed-loop feedback control, simple and convenient control, and reduces manufacturing costs. [0003] There are mainly two grasping methods when grasping objects, one is pinching and the other is holding. [0004] Pinch is to use the fingertips of the end fi...

AI Technical Summary

Problems solved by technology

The device can realize the coupling and self-adaptive composite grasping mode, but the disadvantages are: 1) the mechanism is complicated, and there are two sets of transmission mechanisms installed between the proximal joint shaft and the distal joint shaft; Difficulty in selection; 3) Use multiple springs to achieve decoupling - to reconcile the contradiction between the coupling transmission mechanism and the adaptive transmission mechanism, often making the deformation of multiple springs large, resulting in excessive and unnecessary energy loss

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