Integral Lifting Space Drive Linear Flat Gripper Adaptive Robot Finger Device

Abstract

Integral lifting space drive linear flat clip adaptive robot finger device belongs to the field of robot hand technology, including base, base, two finger segments, two joint shafts, motor, gear, rack, spring, shift block, convex Blocks, levers, rollers, chute pieces and slide bars. The device realizes the functions of straight-line parallel clamping and self-adaptive composite grasping of the double-joint robot fingers. The device utilizes that when the first finger segment rotates, the movable base moves up and down on the fixed base to eliminate the influence of the arc rotation of the first finger segment, so as to achieve the effect that the second finger segment always moves along a straight line. The device can realize two composite grasping modes of linear parallel clamping and adaptive envelope grasping. The transmission of the device is precise and stable, and the grasping is stable and reliable; only one motor is used to drive two joints, and no complex sensing and real-time control systems are needed; the structure is simple, the volume is small, and the cost is low, and it is suitable for general-purpose grasping 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 robot finger device with an integral lifting and air-travel transmission linear flat clip self-adaptive. Background technique [0002] The robotic hand is an important end component for grasping and manipulating objects. At present, the research results of robotic hands mainly focus on dexterous manipulators and underactuated manipulators, as well as industrial grippers and special hands. Objects in space are varied and of different sizes, such as thin paper, irregularly shaped stones, mobile phones, apples, etc. In dexterous hands, most finger joints are equipped with actuators, but the control is complex and the gripping force is small, so the application of dexterous hands is limited. In an underactuated hand, each finger has 2 or more degrees of freedom, and is driven by a small number of actuators, which can grasp objects, with simp...

AI Technical Summary

Problems solved by technology

Its shortcoming is that the device cannot realize the linear parallel clamping function of the end finger segment moving along the straight line track in the parallel clamping stage.

Its disadvantages are: the device cannot realize the function of self-adaptive envelope grabbing objects, the mechanism is relatively complicated, and the manufacturing cost is high

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