Palm type manipulator with dual-drive crank-rocker-slider parallel mechanism capable of changing and rotating positions of fingers

Abstract

The invention discloses a palm type manipulator with a dual-drive crank-rocker-slider parallel mechanism capable of changing and rotating positions of fingers. Crank-rocker-slider mechanisms are adopted, three identical flexible plate spring fingers are selected, one of the fingers is immobile, and the other two fingers can do translational motion of rotation and movement and are symmetrically mounted on connecting rods or rockers which are positioned on the left and right sides respectively. The crank-rocker-slider mechanism at the left side is an initiatively-driving structure which is driven by two stepping motors respectively to produce angular displacement of cranks and linear translation of sliders; and the crank-rocker-slider mechanism at the right side is a driven structure, transmission is carried out by a pair of gears at constant speed, and rotation angular displacement of the crank at the left side is equal to that of the crank at the right side; by manual adjustment, eccentric distances of the cranks, positions and angles of two fingers which are positioned on the connecting rods or the rockers, and the position of the other fixed finger can be changed. The manipulator disclosed by the invention has the advantages of big operation space, wide adaptability, low energy consumption and the like, and belongs to the fields of logistics conveying equipment, manipulators and robots.

Description

technical field [0001] The double-drive crank-rocker-slider parallel mechanism palm-type manipulator with finger displacement and indexing of the present invention has the advantages of large operating space, wide adaptability, low energy consumption, etc., and belongs to the field of logistics transportation equipment, manipulators and robots. Background technique [0002] At present, in addition to the anthropomorphic dexterous hands with high cost and many sensors, ordinary machines can only control the center distance of fingers to grasp circular or spherical objects of large and small diameters, or control finger transposition to grasp circular or spherical objects. Spherical object changes to grasping rectangular object, and the manipulator that finger can change position, but also the angle of rotation has not yet reported. Contents of the invention [0003] The present invention overcomes the above-mentioned defects, designs the manipulator from the perspective of ...

AI Technical Summary

Problems solved by technology

[0002] At present, in addition to the anthropomorphic dexterous hands with high cost and many sensors, ordinary machines can only control the center distance of fingers to grasp circular or spherical objects of large and small diameters, or control finger transposition to grasp circular or spherical objects. Spherical objects are transformed into grasping rectangular objects, and the manipulator with fingers that can change positions and rotate angles has not been reported yet

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