Gear-driven bidirectional parallel clamping perceiving self-adaptive robot finger device and control method

Abstract

The invention discloses a gear-driven bidirectional parallel clamping perceiving self-adaptive robot finger device and a control method. The device comprises a base, two finger segments, two joint shafts, a driver, multiple gears, sensors, a control module, a motor driving module and the like. Four grasping modes including a forward parallel clamping and grasping mode, a forward parallel clamping and self-adaptive grasping mode, a reverse parallel clamping and grasping mode and a reverse parallel clamping and self-adaptive grasping mode are achieved. According to the device, not only can a unidirectional self-adaptive grasping effect of a traditional perceiving self-adaptive finger be achieved, but also a bidirectional self-adaptive grasping effect and a bidirectional parallel clamping and grasping effect which can not be achieved through the traditional perceiving self-adaptive finger are achieved; the grasping range is wide, the grasping process is stable, the grasping force is controllable, a driving chain is short, programming does not need to be conducted again when different objects are grasped, and use is easy and convenient; high flexibility, high self-adaptivity, high reliability, high stability and low control difficulty can be achieved, and the device 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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