Robot dexterous hand finger pointing device and method
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A calibration device and dexterous hand technology, applied in the field of robot dexterous hand finger calibration device, can solve the problems of complex structure and low precision, and achieve the effect of high positioning accuracy, compact structure, and not easy to be affected by the external environment
Active Publication Date: 2020-06-02
SHENYANG SIASUN ROBOT & AUTOMATION
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[0004] The present invention aims to overcome the technical defects of low precision and complicated structure of the existing robot dexterous hand zero calibration device, and provides a robot dexterous hand finger calibration device and method
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[0033] In order to enable those skilled in the art to better understand the solutions of the present invention, the following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only It is an embodiment of a part of the present invention, but not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts shall fall within the protection scope of the present invention.
[0034] The terms "first", "second", "third", "fourth", etc. (if any) in the description and claims of the present invention and the above drawings are used to distinguish similar objects and not necessarily Describe a specific order or sequence. It is to be understood that the terms so used are interchangeable under appropriate cir...
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Abstract
The invention relates to the technical field of robots and particularly discloses a finger calibration device which comprises a palm back shell, a thumb subassembly, an index finger subassembly, a middle finger subassembly, pad blocks, sensing approaching plates, a sensor support, a sensor and a connection shaft, the thumb subassembly, the index finger subassembly and the middle finger subassemblyare connected with the palm back shell correspondingly, the middle finger subassembly is connected with the index finger subassembly through the connection shaft, rotation of finger joints of the index finger subassembly drives linkage of the finger joints of the middle finger subassembly, the thumb subassembly and the index finger subassembly are provided with the pad blocks correspondingly, thepad blocks are fixedly provided with the sensing approaching plates, each sensing approaching plate is provided with a boss structure, the palm back shell is fixedly provided with the sensor, the thumb subassembly moves, the boss approached by the sensing approaching plate is made to approach the sensor and sensing is generated, and the zero position is confirmed. According to the finger calibration device and method for a robot dexterous hand, a zero position positioning device has the beneficial effects of being simple in structure, convenient to install, not affected by the external environment, simple in a zero position calibration method, high in precision and response speed and low in control difficulty.
Description
technical field [0001] The invention relates to the technical field of robot manipulator zero position calibration, in particular to a robot dexterous hand finger calibration device and method. Background technique [0002] The zero error of the robot dexterous hand is the main factor affecting the absolute positioning accuracy of the dexterous hand. The zero error of the dexterous hand refers to the deviation between the actual position and the theoretical position of each joint at the initial position. The purpose of zero calibration is to correct the zero error Identify and compensate. [0003] At present, the zero calibration of robots is mainly used in industrial robots, such as OTC, KUKA, ABB, etc., all have their own unique zero calibration methods. At the same time, there is also a zero point positioning method for the joints of the robot arm, such as using an absolute position sensor to determine the joint position, but this method is expensive, and the sensor can ...
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