Flexible underactuation finger based on fin ray type structure

An underactuated, finger technology, applied in the field of manipulators, which can solve the problems of insufficient rigidity, difficult to grasp size, etc.

Active Publication Date: 2018-09-07
广州青装技术合伙企业(有限合伙)
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, this kind of flexible hand is difficult to ...

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  • Flexible underactuation finger based on fin ray type structure
  • Flexible underactuation finger based on fin ray type structure
  • Flexible underactuation finger based on fin ray type structure

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Embodiment Construction

[0021] The present invention will be further described below with reference to the accompanying drawings and specific embodiments.

[0022] In the description of the present invention, it should be understood that the orientation terms "upper", "lower", "left", "right", "top", "bottom", "inner", "outer", etc. indicate the orientation or The positional relationship is based on the orientation or positional relationship shown in the accompanying drawings, which is only for the convenience of describing the structure of the present invention and simplifying the description, and does not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation , therefore, it should not be construed as a limitation of the present invention.

[0023] The specific embodiment of the present invention provides a flexible underactuated finger based on a fin ray structure, refer to Figure 1 to Figure 3 , the underactu...

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Abstract

The invention discloses a flexible underactuation finger based on a fin ray type structure. The finger comprises a finger rack, a parallel transmission chain, a self-adaptation transmission chain, a drive component, a rigid knuckle and a flexible fin ray knuckle; the fin ray knuckle is a tail end knuckle of the finger, and the parallel transmission chain, the self-adaptation transmission chain andthe drive component are arranged on the finger rack, the rigid knuckle is in movable connection with the parallel transmission chain and the self-adaptation transmission chain at the same time, the efin ray knuckle is connected with the rigid knuckle through the self-adaptation transmission chain, the self-adaptation transmission chain is connected to the drive component, and is driven by the drive component to move so as to drive the parallel transmission chain to move and promote the rigid knuckle and the fin ray knuckle to generate adaptation motion, and meanwhile, the fin ray knuckle generates the adaptive deforming under the effect of the self-adaptation transmission chain.

Description

technical field [0001] The invention relates to the field of manipulators of robots, in particular to a flexible underactuated finger based on a fin ray structure. Background technique [0002] The research on manipulators has a history of decades. In order to meet the different needs of industry, medicine and service industries, there are many types of manipulators. Among them, the underactuated gripper has become an important research direction in the robotic gripper because it can adaptively grasp objects of different shapes, and has simple control and stable grasping. [0003] At present, there are two main transmission modes for underactuated hands: tendon-rope transmission and link-type transmission. The tendon-rope-type underactuated hand is usually light in design and highly anthropomorphic, such as the patent document with the publication number of CN 107097246 A. Although the link-type transmission underactuated hand is not as anthropomorphic as the tendon-and-ro...

Claims

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Application Information

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IPC IPC(8): B25J15/08
CPCB25J15/08
Inventor 赵铖曾龙罗博陈敏鹤
Owner 广州青装技术合伙企业(有限合伙)
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