Cooperative driving mechanism for active and passive decoupling between fingers

Abstract

The invention discloses a cooperative driving mechanism for active and passive decoupling between fingers. The mechanism mainly comprises motors, ball screws, gears, sliding blocks, pulleys, a steel wire rope and the like. The steel wire rope starts from a fingertip of a finger, bypasses the upper parts of the pulleys as a bending driving rope, bypasses the lower parts of the pulleys as a tightening driving rope, and bypasses pulleys on the sliding blocks to be finally fixed on a fingertip of the other finger. The motors drive the ball screws through meshing gears to enable the sliding blocksto move up and down so as to control the fingers to bend and straighten, one motor controls proximal joints of the two fingers, and the other motor controls the other four joints of the two fingers. According to the mechanism, the movement of the proximal joints is independent relative to the other two joints, so that the fingers have better self-adaptability, the operational capability of the fingers on the object is improved, and meanwhile, the grabbing torque of the joints during grabbing is more conveniently adjusted.

Description

technical field [0001] The invention relates to the field of robot grasping, in particular to an underactuated two-finger dexterous hand. Background technique [0002] In the field of robot grasping, experts and scholars at home and abroad have successfully developed a number of well-known multi-fingered and multi-joint dexterous hands after years of research, such as Utah / MIT developed by MIT and DLR developed by German Aerospace Center. Although these highly intelligent hands can dexterously realize precise grasping and operation, they generally have complex structures, heavy weight and large volume. Therefore, experts and scholars at home and abroad have proposed underactuated mechanisms and developed a number of underactuated robot hands, such as the SARAH jointly developed by Canada's MD ROBOTICS and Laval University, and the underactuated prosthetic hand developed by Huazhong University of Science and Technology that reproduces the grasping function of human hands, etc...

AI Technical Summary

Problems solved by technology

Although these hands can realize adaptive grasping of fingers, they are not dexterous enough to manipulate objects.

Moreover, these dexterous hands are quite different from human hands in design and function.

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