A robotic dexterous hand with parallel adaptive grasping

Abstract

The invention discloses a parallel self-adaptive grasping robot dexterous hand. The parallel self-adaptive grasping robot dexterous hand comprises a base and fingers. The fingers comprise the first finger, the second finger and the third finger. Each finger comprises a far-end finger rod and a near-end finger rod. The first finger is fixedly connected to the base. The second finger and the third finger can rotate around the central axis perpendicular to the base. In the dexterous hand grasping process, when the near-end finger rods do not make contact with an object, the far-end finger rods linearly and horizontally move to parallelly grasp the object, and the object also can be grasped in a self-adaptive envelope mode according to the different sizes and shapes of the object after the near-end finger rods make contact with the object. Meanwhile, the positions of the rotatable fingers can be adjusted in a large range, so that a plurality of grasping structure states are produced, and the capacity to grasp different shapes of objects is improved. The parallel self-adaptive grasping robot dexterous hand is ingenious in structural design, small in size, few in driver, capable of automatically adapting to different sizes and shapes of objects, high in grasping capacity, large in range, stable and reliable.

Description

technical field [0001] The invention belongs to the technical field of robot hands, and in particular relates to a robot dexterous hand for parallel self-adaptive grasping. Background technique [0002] With the development of robot technology, robots have been used in more and more fields, and more and more practical applications require the terminal of the robot to be able to stably grasp and manipulate objects. The robotic dexterous hand, which is generally designed as multiple fingers similar to the human hand, adopts the grasping principle of force closure and shape closure, and is an important terminal for robots to grasp and manipulate objects. [0003] Common industrial grippers generally adopt the gripping method with parallel ends, which are called parallel pinching and flat pinching, that is, the end fingers are parallel, touching the object from both sides of the object, and grabbing the object, so as to achieve force-closed gripping Effect. This parallel gripp...

AI Technical Summary

Problems solved by technology

[0005] Existing robot hand devices such as Chinese invention patent CN101234489A, etc., this device can realize the self-adaptive envelope grasping of fingers, and achieve the effect of shape-closed grasping, but it cannot realize parallel grasping

Existing robot hand devices such as Chinese invention patent CN102528798A, etc., this device can realize parallel grasping, but cannot realize envelope grasping

An existing underactuated finger device, such as Chinese patent CN106272502A, etc., can realize parallel gripping and envelope gripping, but there are many mechanical parts, redundant and complicated, and the overall finger size is large, bulky and inflexible

Images