Force-sensor-based flexible mechanical paw and using method

Abstract

The invention provides a force-sensor-based flexible under-actuation mechanical paw and a using method and belongs to the technical field of mechanical structures. The force-sensor-based flexible under-actuation mechanical paw comprises an interface module, a steering engine driving device, an under-actuation transmission device, an interface base, a pressure sensor module and a finger module. Theforce-sensor-based flexible under-actuation mechanical paw is accurate in control, easy to install, structured in design, easy to use and maintain, and capable of being effectively used for various lightweight-level grabbing occasions.

Description

technical field [0001] The invention provides a force-sensitivity-based flexible mechanical gripper and a using method thereof, which belong to the technical field of mechanical structures. Background technique [0002] As the end effector of robots, robotic grippers are widely used in industrial palletizing and sorting, medical rehabilitation, household grasping and other environments. However, traditional manipulators are mostly made of metal, with high manufacturing costs, long cycle times, and complex structures. , the cost of repair and maintenance costs are high. [0003] For traditional robotic grippers, there are currently several directions: [0004] 1. The shape and structure imitate the humanoid hand claw: Relying on bionics technology, imitating the structural model of the human hand, combined with mechanical technology, to create an actuator that can realize both envelope-type grasping and fingertip grasping, and the degree of freedom of finger joints Usually ...

AI Technical Summary

Problems solved by technology

[0005] 2. Underactuated robotic grippers: Due to the large number of joints that need to be controlled by the robotic grippers, and the compact structure of the grippers, in order to reduce the number of motors driving the joints, people usually use underactuated methods to control the motors. The most commonly used robotic grippers are The mechanical gripper driven by the four-link principle uses a lead screw or a transmission gear to transmit the rotational power of the motor to the action of the connecting rod, thereby driving the action of the multi-stage connecting rod to realize the movement of the fingers; in addition, the gear transmission method is also widely used. Use, through the use of meshing between the gears, the rotational power of the motor is transmitted to the rotation of the joints, so as to realize the movement of the fingers; however, due to the complex structure and too many parts, the production cost is high, and the installation and maintenance are very difficult.

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