Modular and reconfigurable three-sectional robot end effector

Abstract

The invention discloses a modular and reconfigurable three-sectional robot end effector. The modular and reconfigurable three-sectional robot end effector comprises a three-sectional finger and a driving mechanism, wherein the three-sectional finger is composed of a driving arm, a first transmission arm, a second transmission arm, a third transmission arm, a first knuckle, a second knuckle and a third knuckle, one end of the driving arm is connected with the driving mechanism, and through a base, two or more fingers can be mounted into a whole. According to the modular and reconfigurable three-sectional robot end effector, when in an unclamping state, the three-sectional finger can form a parallelogram and further can achieve parallel gripping and enveloping type gripping under control ofthe driving mechanism; the three-sectional finger further improves object enveloping and gripping functions; meanwhile, the three-sectional finger is a modular structure with the base changeable, thereby facilitating adaptive assembly and meeting different demands.

Description

technical field The invention relates to a modular reconfigurable three-stage machine end effector, which belongs to the technical field of intelligent robot end effectors. Background technique At present, the existing adaptive structure of the end effector can clamp the object through the elastic deformation of the material of the actuator finger itself, but its grasping force is slightly small; while the rigid end effector is generally simple two rigid fingers to achieve parallel opening. And, there are very few end effectors with a single function and adaptive function. Among the adaptive actuator structures, the two-stage finger adaptive structure is easier to implement. But in general, the more finger segments, the better the envelope function of the fingers on the object, the stronger the grasping ability, and the easier it is to grasp regular and irregular objects. Contents of the invention The purpose of the present invention is to provide a modular and reconfig...

AI Technical Summary

Problems solved by technology

At present, the existing adaptive structure of the end effector can clamp the object through the elastic deformation of the material of the actuator finger itself, but its grasping force is slightly small; while the rigid end effector is generally simple two rigid fingers to achieve parallel opening. And, there are very few end effectors with single function and adaptive function

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