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.
CN108501029AActive Publication Date: 2018-09-07广州青装技术合伙企业(有限合伙)
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Patent Information

Authority / Receiving Office
CN · China
Current Assignee / Owner
广州青装技术合伙企业(有限合伙)
Publication Date
2018-09-07

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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.
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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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