Light small-sized self-adaptive underactuated two-finger grasping device

Abstract

The invention provides a light small-sized self-adaptive underactuated two finger grasping device, and belongs to the field of manipulating robots. The device includes a hand grasping driving mechanism, a first finger, a second finger, and a force detection system. A driving motor and a driving plate are arranged in the hand grasping driving mechanism, an aviation plug is used for connecting an external power source and receiving a control signal, the power of the hand grasping is provided; the first finger and the second finger are symmetrically arranged and are arranged on two sides of the hand grasping driving mechanism, each finger is provided with an active degree of freedom and two passive degrees of freedom, and the grasping an object by using two fingers of a human can be simulated; the force detection system comprises patch type force sensors and an anti-slip protective pad, and the sensors are arranged at the tail end, middle part and root part of the finger, and above the hand grasping driving mechanism. By using the two-finger structure, the two fingers are driven by the unique hand grasping driving mechanism, and the hand grasping driving mechanism is simple in structure; each finger is of an underactuated mechanism and objects with irregular shapes can be firmly grasped.

Description

technical field [0001] The invention belongs to the field of manipulative robots, and relates to a light and small shape self-adaptive underactuated two-finger gripping device. Background technique [0002] As an actuator, the hand grasping device is an important part of manipulators such as manipulators. In most environments, hand-held devices can replace humans in tedious and dangerous operations. With the wide range of applications and the complexity of working conditions, the requirements for hand gripping devices are getting higher and higher, and the functions close to human hands are often used as the assessment standard. Flexible hand grasping devices often have the structural characteristics of multiple fingers and multiple degrees of freedom. In order to achieve high-precision grasping, each joint is often driven by an independent motor, so the control system is complicated, the cost is too high, and the maintenance is complicated. [0003] The Chinese patent app...

AI Technical Summary

Problems solved by technology

[0006] Aiming at the problems that the existing hand grasping device is driven by an independent motor, the size and performance are limited, and the control system is complicated, etc., a light and small shape self-adaptive underactuated two-finger hand grasping device is proposed, which is a kind of hand grasping device that can simulate human two fingers The device for grasping objects adopts an independent high-precision motor drive and grasping force feedback system, which can grasp irregularly shaped objects and can be used as the end effector of the mechanical arm

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