Two-direction perception adaptive robot finger device with closed-ring flexible piece and control method of two-direction perception adaptive robot finger device

Abstract

The invention relates to a two-direction perception adaptive robot finger device with a closed-ring flexible piece and a control method of the two-direction perception adaptive robot finger device. The two-direction perception adaptive robot finger device comprises a base, two finger sections, two joint shafts, a driver, a flexible transmission piece, a sensor, a control module, a motor driving module and the like. The two-direction perception adaptive robot finger device realizes four grabbing modes: (1) a mode that the two-way perception adaptive robot finger device performs forward-direction parallel clamping and grabbing; (2) a mode that the two-way perception adaptive robot finger device firstly performs forward-direction parallel clamping and then performs adaptive grabbing; (3) a mode that the two-way perception adaptive robot finger device performs reverse-direction parallel clamping and grabbing; and (4) a mode that the two-way perception adaptive robot finger device firstly performs reverse-direction clamping and then performs adaptive grabbing; therefore, the unidirection adaptive grabbing effect of a conventional perception adaptive finger is achieved, and the two-direction adaptive grabbing effect and the two-direction parallel clamping and grabbing effect, which are not achieved by the conventional perception adaptive finger, are also achieved by the two-direction perception adaptive robot finger device; the grabbing range is large, the grabbing process is stable, the grabbing force is controllable, and a transmission chain is short; when the two-direction perception adaptive robot finger device is used for grabbing different objects, reprogramming is not needed, and the two-direction perception adaptive robot finger device is simple and convenient to use; and the two-direction perception adaptive robot finger device can realize high dexterity, high adaptability, high reliability, high stability and low control difficulty, and is suitable for a robot hand.

Description

technical field [0001] The invention belongs to the technical field of robot hands, and in particular relates to the design of a dexterous robot finger device and a control method thereof. Background technique [0002] The robot can already realize more operation functions, and most of its functions need to be realized by the operation of the robot hand, so the design of the hand structure is the key technology of the robot design. At present, robot fingers are divided into two types: dexterous hands and underactuated hands, each of which has its own advantages and disadvantages. [0003] The disadvantage of existing dexterous fingers is that there is no automatic adaptability to the shape and size of the grasped object, and two-way grasping cannot be completed. Therefore, the grasping range is narrow, and the grasping action is single, requiring a large number of complex calculations of kinematics and dynamics. It is difficult to meet reliable and robust grasping in an uns...

AI Technical Summary

Problems solved by technology

[0004] The disadvantage of the existing underactuated fingers is that the transmission chain is long, and there will be problems such as air travel, gaps and lost steps during the transmission process, which will reduce the grasping performance of the fingers, so that when the first segment of the root of the finger is applied to the object to grasp When the force is small, the underactuated fingers cannot work. When the grasping force of the first finger segment is large, the underactuated finger can achieve adaptive grasping action, but the grasping force of the second finger segment will be different from that of the first finger segment. The grasping force is very small, and the two are in a certain ratio. In order to improve the grasping force of the second finger segment, the grasping force of the first finger segment has to be increased, but the excessive grasping force of the first finger segment will squeeze the Bad objects, therefore, for the grasping of many objects, the grasping mode of underactuated fingers is not ideal, such as the underactuated fingers realized by gear transmission (CN1289269C), the underactuated fingers realized by connecting rod transmission (US5762390) Technical scheme all has above-mentioned shortcoming and deficiency to varying degrees

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