Sliding base compensation type linear flat clip adaptive robot finger device

Abstract

A sliding base compensation type linear flat clip adaptive robot finger device belongs to the technical field of robotic hands, including a base, a sliding base, a motor, a transmission mechanism, a height compensation assembly and at least one finger assembly; the finger assembly includes two finger segments , two joint shafts, three rotating shafts, multiple connecting rods, spring parts and limit blocks. The height compensating assembly includes levers, a rotating shaft, slides, rollers, gears and racks. The device realizes the straight-line parallel clamping of the double-joint robot fingers and multiple adaptive grasping modes. The device can not only clamp or stretch objects in a straight line trajectory, but is especially suitable for grasping various objects on a flat workbench, and can also adaptively grasp objects of different shapes and sizes; the sliding base is realized by using the lever chute The overall lifting or lowering; the under-actuated method does not require complex sensing and control systems, the cost is low, and it is suitable for many different robots.

Description

technical field [0001] The invention belongs to the technical field of robot hands, and in particular relates to a structural design of a sliding base compensation type linear flat clip adaptive robot finger device. Background technique [0002] As an important part of the robot, the robot hand is a hot and difficult point in robot research. At present, the research results of anthropomorphic manipulators mainly focus on dexterous manipulators and underactuated manipulators, but also include industrial grippers and special hands. A dexterous hand usually refers to having multiple fingers, multiple knuckles, multiple degrees of freedom, and multiple drives; at least 3 fingers and 9 motors are actively driven. Generally, each finger has 3 active degrees of freedom; each active joint of the finger is driven by a driver, which can realize most actions similar to human hands. Although the dexterous hand has high grasping and operating capabilities, due to the characteristics of...

AI Technical Summary

Problems solved by technology

Its disadvantages are: the device cannot realize the self-adaptive grasping function, and cannot use multiple contact points to envelop and grasp objects of different shapes and sizes, and the number of connecting rods and rotating shafts is large, and the mechanism is relatively complicated

Its shortcoming is that the device can only realize the arc parallel clamping function, but cannot realize the straight line parallel clamping function. When clamping thin plate objects of different sizes on the workbench, the movement of the robot arm is needed to cooperate to realize the grasping

Its shortcoming is: 1) in order to compensate the height difference of the second finger segment produced in the rotation of the first finger segment, the second finger segment surface cover is added to allow the second finger segment surface cover to slide on the second finger segment. When grabbing an object, the contact area of ​​the terminal finger segment is much reduced, and only the surface cover of the second finger segment can touch the object, which affects the size of the terminal finger segment for grabbing the object; 2) in the first finger segment and the second finger segment A link mechanism and a rack-and-pinion mechanism are used to realize the effect of the surface cover of the second segment of the linear track translation, and the mechanism is complicated; 3) the mechanism added to the end finger segment of the linear track translation takes up fingers for storing sensors, Limited space for circuit modules

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