Differential link reverse drive synergistic flat clip adaptive robot finger device

Abstract

The invention discloses a parallel-clamping and self-adaptive robot finger device enhanced through reverse transmission of differential links, and belongs to the technical field of robot hands. The parallel-clamping and self-adaptive robot finger device enhanced through the reverse transmission of differential links comprises a base, two finger sections, two joint shafts, a motor, a plurality of links, two transmission mechanisms, a spring element and two limit lugs. The device realizes the functions of parallel clamping and self-adaptive grabbing of the fingers of a double-joint robot, and iscapable of translating the second finger section to hold an object or externally expand to take the object, and sequentially rotating the first finger section and the second finger section to envelopobjects with different shapes and sizes according to the different shapes and positions of target objects, and the angle range of the rotation of the second finger section in a self-adaptive processis large. The device is large in grabbing range, and two joints are driven by virtue of one motor in a manner of under-actuated drive, without the need of complex sensing and control systems; and thedevice is simple in structure, small in size, low in manufacturing and maintenance costs, and applicable to a robot hand.

Description

technical field [0001] The invention belongs to the technical field of robot hands, and in particular relates to a structural design of a differential link reverse transmission synergistic flat clip self-adaptive robot finger device. Background technique [0002] As an important part of the robot, the robot hand is a hot and difficult point in robot research. The developed robot hands (industrial grippers, underactuated hands, dexterous hands and special hands, etc.) can complete specific tasks in many special environments with the help of robot sensing and control systems. [0003] The dexterous hand has more joint degrees of freedom and higher anthropomorphic dexterity, and can complete most human grasping, operation and sensing functions, but the demand for real-time sensing and control is high, the system is more complicated, and the cost is more expensive, which is not conducive to promotion application. The special hand is mainly a general term for various fingerless...

AI Technical Summary

Problems solved by technology

Its shortcoming is: the grasping range of this device is limited

Due to the flat clamping stage, the far finger section reverses an angle α (the same angle as the near finger section), so when the adaptive envelope grips the object, the far finger section needs to rotate a larger angle β around the far joint axis, when When this angle is equal to the angle of the proximal segment, it can only straighten the finger—that is, the distal segment returns to its original state relative to the proximal segment, so the rotation of β=α is not enough to call the distal joint bending, and it is difficult to Enveloping objects, so in order to achieve enveloping grip and large grasping range, β needs to be much larger than α; and this device cannot achieve such a grasping range due to the limitation of the linkage mechanism

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