Coupling self-adaptive robot finger device characterized in that tail end moves along straight line

Abstract

The invention discloses a coupling self-adaptive robot finger device characterized in that the tail end moves along a straight line, and belongs to the technical field of robot hands. The coupling self-adaptive robot finger device comprises a base, a pedestal, a first finger section, a second finger section, a near joint shaft, a far joint shaft, a motor, three transmission mechanisms, two springparts, a cam, a push rod, a rolling wheel, a stroke increasing mechanism and a poking block. The coupling self-adaptive robot finger device can achieve coupling movement, achieves the effect of pinching an object, can also achieve self-adaptive movement, and achieves the effect of covering and holding objects with different shapes and different sizes. In the stage of coupling movement, the tail end of the second finger section moves along the straight line relative to the pedestal, the coupling self-adaptive robot finger device is suitable for pinching the object on a workbench in a coupling mode, the whole height of a robot hand does not need to be adjusted, the control difficulty of a mechanical arm is reduced, and the working efficiency is improved. The coupling self-adaptive robot finger device adopts an under-actuated move, two joints are driven by one driving device, and no complex sensing and control system is required. The coupling self-adaptive robot finger device is compact in structure, small in size and low in cost, and is suitable for the robot hand.

Description

technical field [0001] The invention belongs to the technical field of robot hands, and in particular relates to the structural design of a coupled adaptive robot finger device whose end moves along a straight line. Background technique [0002] As an important part of the robot, the robot hand is a hot and difficult point in robot research. Some hands are designed in the shape of human hands to imitate the movement of human hands, and some hands are developed for industrial operations, such as industrial grippers, underactuated hands, dexterous hands, and special hands. The underactuated robot hand uses a small number of motors to drive multiple joints. Compared with the fully active control robot hand, each joint is driven by a motor. The underactuated robot hand cleverly uses springs as energy storage elements and transmission mechanism deformation, effectively reducing The control complexity and weight of the entire manipulator, and the motor can be hidden in the base, ...

AI Technical Summary

Problems solved by technology

The disadvantages of the double-joint parallel underactuated robot finger device are: 1) too many spring parts are used, and the coupling balance between the spring parts cannot be well realized in the grasping process, and the grasping force is too small; 2) the robot During the coupled grasping process of the finger, the end of the second finger segment moves in a circular arc relative to the base. When there is a flat and small object on the table, it is necessary to move the mechanical arm to realize the process of pinching and grasping. additional control complexity

In order to achieve stable pinching at the end of the finger at the height of the object in the final stage of grasping, at present, only the mechanical arm can be used to control the overall position of the robot hand, and the overall position of the robot hand can be continuously adjusted as the fingers are coupled and bent. The height greatly increases the control difficulty and programming requirements of the robot when grasping

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