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An underactuated hand palm supporting multiple finger layouts

A finger and palm technology, applied in the field of underactuated hands and palms, can solve the problems of different degrees of flexibility of mechanical palms, and achieve the effect of simple and beautiful design, compact structure, and reducing the number of parts

Active Publication Date: 2020-04-03
广州富唯智能科技有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, depending on the grasping task, the flexibility of the robotic palm design will also vary.

Method used

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  • An underactuated hand palm supporting multiple finger layouts
  • An underactuated hand palm supporting multiple finger layouts
  • An underactuated hand palm supporting multiple finger layouts

Examples

Experimental program
Comparison scheme
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Embodiment Construction

[0019] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.

[0020] The specific embodiment of the present invention provides an underactuated hand palm that supports multiple layouts of fingers, refer to figure 1 and figure 2 , figure 2 yes figure 1 The structural schematic diagram of the remaining part of the palm structure after removing the three finger structures, the palm of the under-actuated hand includes the palm frame 1 and the transmission assembly 2 installed on the palm frame 1, the drive assembly 3, the first movable finger 4, the second Two movable fingers 5 and fixed fingers 6; the palm frame 1 plays the skeleton supporting role of the whole palm structure. The transmission assembly 2 includes a transmission frame 201 , a first four-bar linkage transmission mechanism, a second four-bar linkage transmission mechanism, a first gear 202 , and a second gear 203 . The first movable finge...

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Abstract

The invention discloses an under-actuated hand palm supporting many layouts of fingers. The under-actuated hand palm supporting many layouts of fingers comprises a palm rack as well as a transmissionassembly, a drive assembly, a first movable finger, a second movable finger and a fixed finger which are installed on the palm rack, wherein the transmission assembly comprises a transmission rack, afirst four-link transmission mechanism, a second four-link transmission mechanism, a first gear and a second gear; the first movable finger is connected to the output end of the first four-link transmission mechanism, and the input end of the first four-link transmission mechanism is connected to the first gear; the second movable finger is connected to the output end of the second four-link transmission mechanism, and the input end of the second four-link transmission mechanism is connected to the second gear; and the first gear and the second gear are mutually engaged, the drive assembly isfixedly connected with any of the two gears to drive the first four-link transmission mechanism and the second four-link transmission mechanism to move, and then indirectly drive the first movable finger and the second movable finger to move, so that the first movable finger, the second movable finger and the fixed finger form many layouts.

Description

technical field [0001] The invention relates to the field of robot grippers, in particular to an underactuated hand palm supporting multiple layouts of fingers. Background technique [0002] The research on robotic grippers has a history of decades. In order to meet the different needs of industry, medicine and service industries, there are many types of robotic grippers. Among them, underactuated grippers have become an important research direction in robotic grippers because they can adaptively grasp objects of different shapes. [0003] For a long time, the research on underactuated manipulators has mainly focused on the fingers. Whether it is an underactuated hand with a link transmission or an underactuated hand with a tendon-rope transmission, the continuous improvement of the finger structure enables the manipulator to adaptively grasp most of the object. But to complete the grasping action, in addition to the fingers, the layout between the fingers, that is, the st...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/10B25J15/08
CPCB25J9/102B25J15/08
Inventor 赵铖曾龙罗博陈敏鹤
Owner 广州富唯智能科技有限公司
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