Coupling adaptive three-finger differential robot gripper device with tendon-rope transmission

Abstract

A coupled adaptive three-finger differential robot gripper device driven by tendon ropes, belonging to the field of robot technology, including a gripper base, three double tendon ropes in series coupled adaptive fingers, a gripper transmission mechanism, a driver, and a single input and three outputs Differential etc. The device realizes the functions of robot finger-coupling fast-folding grasping and adaptive grasping and the function of adaptive grasping of the whole gripper. According to the shape and position of the object, the device can drive each finger to quickly couple and rotate the self-adaptive clamping object, and when any one or two fingers are blocked, it can continue to drive the remaining fingers to continue to move until the object is stably clamped. To achieve the purpose of adaptively enveloping objects of different shapes and sizes for each finger and the entire gripper; the grasping range is large, and the grasping is stable and reliable; one driver is used to drive three fingers; the device is highly adaptable, the grasping force is large, and the grasping It is stable and reliable, suitable for all kinds of 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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