Tendon rope transmission coupling self-adaption three-finger differential motion robot hand paw device

Abstract

The invention relates to a tendon rope transmission coupling self-adaption three-finger differential motion robot hand paw device, and belongs to the technical field of robots. The tendon rope transmission coupling self-adaption three-finger differential motion robot hand paw device comprises a hand paw base, three double tendon rope tandem type coupling self-adaption fingers, a hand paw transmission mechanism, a driver, a single-input three-output differential mechanism and the like. By means of the device, the robot finger coupling quick folding grabbing and self-adaption grabbing functionsand the overall hand paw self-adaption grabbing function are achieved. The device can drive all fingers to achieve quick coupling rotation to achieve self-adaption clamping of objects according to thedifferent shapes and positions of the objects, the remaining fingers/finger can be continuously driven to continuously move when any one or two of the fingers are blocked until the objects are stablyclamped, and the aim of self-adaption wrapping of the objects in different shapes and sizes through all fingers and the overall hand paw is achieved; the grabbing scope is large, and grabbing is stable and reliable; one driver is used for driving the three fingers; and the device has the high adaptability and large grabbing force and is stable and reliable to grab and suitable for various robots.

Description

technical field [0001] The invention belongs to the technical field of robots, and in particular relates to the structural design of a coupling adaptive three-finger differential robot gripper device driven by a tendon rope. Background technique [0002] With the development of intelligent technology, robotics has become a research hotspot today. As a kind of end effector of robots, robotic grippers have also attracted more and more researchers' attention. In order to assist robots to complete more tasks under special circumstances, people have developed a variety of robot hands, such as dexterous hands, underactuated hands, grippers, etc. The development of a robot hand with high flexibility, multiple perception capabilities, compact structure, strong gripping force, and the ability to grasp objects of various shapes and properties and complete various tasks has always been a common goal of robotic hand research. The existing robotic dexterous hand is complex to control, h...

AI Technical Summary

Problems solved by technology

The disadvantages of the underactuated mechanical finger device are: the pulley drive requires a complex tensioning device, which is difficult to assemble, and the belt drive is used as a small load drive, which produces less gripping force, and the drive belt has greater elasticity

The disadvantages are: (1) the knuckles at the end of the device move in parallel, and the convergence speed of the fingers is slow, which may easily cause the moving object in the space to escape during the grasping process; (2) the device adopts a multi-link mechanism, and the movement has a large The dead zone, the grabbing range is small

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