Limiting collaborative double-mode dexterous robot finger device

Abstract

A limiting collaborative double-mode dexterous robot finger device belongs to the technical field of robot hands. The limiting collaborative double-mode dexterous robot finger device comprises a base,two finger sections, two joint axes, two drives, a tendon rope, two transmission mechanisms, a limiting component, a torque limiter, a first spring piece, a second spring piece and a third spring piece. A dexterous control mode and a self-adaption grabbing mode of the device are realized comprehensively by utilizing the drives, the tendon rope, the transmission mechanism, the spring pieces and the limiting component; after receiving pressure of a grabbed object, the finger can be automatically switched to the self-adaption grabbing mode from the dexterous control mode; for example, a grabbingposture of the finger can be controlled and changed according to different shapes and sizes of target objects so as to grab the objects at a most suitable posture; and meanwhile, as the advantages ofa tendon rope driving mode are utilized by the device, stable grabbing can be provided after the finger touches the objects. The device is compact in structure, small in size and low in manufacturingand maintenance cost, and is suitable for the robot hands.

Description

technical field [0001] The invention belongs to the technical field of robotic hands, and in particular relates to the structural design of a position-limiting cooperative dual-mode dexterous robot finger device. Background technique [0002] As the part with the most degrees of freedom in the human body, the hand has extremely high flexibility and is one of the most important organs in the human body. Similarly, the research on robot hands has become the most important research direction of anthropomorphic robots. The grasping strength, grasping stability and volume weight of the robot hand directly affect the performance of the humanoid robot. [0003] The initial research direction of people is the dexterous hand, hoping to realize the function of the human hand by simulating the movement mode of the human hand. Because the dexterous hand can completely control each joint degree of freedom, and can do any action that a human hand can do, it has a huge advantage when rep...

AI Technical Summary

Problems solved by technology

This causes waste of the motor in use;

[0009] 2) The device can only be bent in a coupled grasping mode before grasping the object, and the angle between every two adjacent finger segments is equal, and the fingers cannot achieve any desired posture like a dexterous hand

[0012] 1) The device is an auxiliary device attached to the underactuated fingers, which occupies too much space outside the hand and affects the distribution of other fingers on the palm;

[0013] 2) The way the device is used to change the finger grasping mode is to lock each finger joint. Since it takes a certain amount of time to lock the joints and unlock the joints, this makes the fingers very inflexible in control and cannot be quickly locked and unlocked. Function, suitable for mechanical repetitive grasping work, but it is difficult to realize the function of free manipulation of dexterous hands

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