Palm-type manipulator with double-drive crank-rocker-slider parallel mechanism with finger displacement and indexing

Abstract

The dual-drive crank-rocker slider parallel mechanism palm-type manipulator with finger displacement and indexing in the present invention adopts a crank-rocker slider mechanism and uses three identical flexible plate spring fingers, one of which does not move, and the other two The finger is a translational motion that both rotates and moves, and the two fingers are respectively symmetrically installed on the left and right connecting rods or rockers. The crank rocker slider mechanism on the left is an active drive structure, which is driven by two stepping motors to generate the angular displacement of the crank and the linear movement of the slider; the crank rocker slider mechanism on the right is a driven mechanism, through A pair of gears are driven at a constant speed, and the rotation angle displacement of the left crank and the right crank are equal; through manual adjustment, the eccentricity of the crank, the position and angle of the two fingers on the connecting rod or the rocker, and the other fixed can be changed. finger position. The manipulator of the 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.

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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