Double tendon rope series coupling adaptive finger device

Abstract

The double tendon rope series coupling self-adaptive finger device belongs to the technical field of robot claws, and includes a base, two knuckles, two joint shafts, a driver, a plurality of transmission wheels, a transmission mechanism, two spring parts and the like. The device realizes the functions of rapid retraction and adaptive grasping of the coupled motion of the robot fingers. According to the shape and position of the object, the device can quickly rotate the second knuckle to clamp the object, and can automatically rotate the second knuckle to contact the object after the first knuckle touches the object, so as to achieve the adaptive envelope of different shapes , the purpose of large and small objects; the grasping range is large, the grasping is stable and reliable; two knuckles are driven by one driver; the device has a simple structure, low processing, assembly and maintenance costs, and is suitable for robot hands.

Description

technical field [0001] The invention belongs to the technical field of robot grippers, and in particular relates to the structural design of a double tendon rope series coupling self-adaptive finger device. Background technique [0002] With the development of intelligent technology, robotics has become a research hotspot today, and the robotic hand, as a kind of end effector of robots, has 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, has a small grasping...

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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