Robotic hand and its working method based on ultrasonic actuation principle

Abstract

The invention discloses a robot hand based on the ultrasonic actuation principle and a working mode thereof. The robot hand comprises a palm platform and at least two fingers. Each finger comprises one fixed joint ant at least one movable joint. The palm platform is provided with fixation holes in one-to-one correspondence with the fingers. In each finger, the fixed joint is fixedly connected with the corresponding fixation hole; and the movable joints are connected in sequence, and the root movable joint is connected with the fixed joint. Each fixed joint comprises an oscillator module. Each movable joint comprises an oscillator module and a contact module. Each oscillator module comprises an actuation head, a metal mass block, a base, a longitudinal-vibrating piezoelectric ceramic assembly, a first bending-vibration piezoelectric ceramic assembly, a second bending-vibration piezoelectric ceramic assembly and a pre-tightening bolt. The contact module comprises a spring collet, a base cover, a spring and a contact block. The robot hand is fast in response, high in precision and simple in structure, and has a wide prospect.

Description

technical field [0001] The invention relates to the field of robotic hands, in particular to a robotic hand based on the principle of ultrasonic action and its working method. Background technique [0002] With the rapid development of deep-sea exploration, aerospace technology, mechanical-assisted medical technology and automatic manufacturing technology, the demand for manipulators is increasingly urgent. Traditional manipulators use traditional servo motors and cable structures, which are easily affected by magnetic fields, complex structures, and wires. The cable is easy to be entangled and other shortcomings. Compared with traditional servo motors, ultrasonic motors have the advantages of fast response, high precision, easy miniaturization, and no interference from magnetic fields. Contents of the invention [0003] The technical problem to be solved by the present invention is to provide a robotic hand based on the principle of ultrasonic actuation and its working m...

AI Technical Summary

Problems solved by technology

[0002] With the rapid development of deep-sea exploration, aerospace technology, mechanical-assisted medical technology and automatic manufacturing technology, the demand for manipulators is increasingly urgent. Traditional manipulators use traditional servo motors and cable structures, which are easily affected by magnetic fields, complex structures, and wires. Disadvantages such as easy entanglement of cables

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