Under-actuated manipulator based on metamorphic principle

Abstract

The invention relates to an under-actuated manipulator based on a metamorphic principle. The under-actuated manipulator based on the metamorphic principle comprises at least two mechanical fingers anda driving part. Each of the mechanical fingers comprises four parts which are separately a fingertip part, a little finger part, a middle finger part and a finger root part, and the adjacent parts among the four parts are hinged one another; the driving part comprises a palm rack, a linear track, a movable part and a power line; the linear track is vertically fixed to the palm rack, the power line drives the movable part to move in an reciprocating manner along the linear track, both the movable part and the palm rack are connected to the finger root part of each mechanical finger, and the movable part moves in the reciprocating manner along the linear track so as to drive the four parts in each mechanical finger of the palm rack to move in multi-degree of freedom. The manipulator provided by the invention adopts a single driving structure and can grab objects without being supported by other objects in the grabbing process, and is few in driving element, easy to control, high in flexibility, simple in structure, easy to manufacture and low in cost.

Description

technical field [0001] The invention belongs to the field of robots, and in particular relates to an underactuated manipulator based on the metamorphic principle used at the execution end of a manipulator. Background technique [0002] With the development of society and the advancement of science and technology, robot technology in today's world, as an important branch of high technology, has generally received attention from all countries, and has achieved great development and leapfrog in many fields such as industrial production, space and ocean exploration, national defense construction, and people's lives. more and more widely used. The precision and complexity of the robot's operating environment and execution tasks are becoming higher and higher. Ordinary robots and the end clamping devices equipped with them are far from being able to meet the needs of aerospace operations, deep-sea operations, nuclear industry technology, and other flexible production lines. In or...

AI Technical Summary

Problems solved by technology

[0010] In order to solve the above-mentioned problems in the prior art, the present invention provides an underactuated manipulator based on the metamorphic principle, which solves the problems of too many driving elements, complex control, low flexibility, complex structure, difficult manufacture and high cost in the prior art

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