A coupled adaptive underactuated humanoid dexterous finger

Abstract

The invention belongs to the technical field of robots, and discloses a coupled self-adaptive under-actuated humanoid dexterous finger. The finger is composed of three knuckles and a base, wherein a motor and a bevel gear train are adopted for transmission, and the finger can be rotated by only one motor; firstly, the motor drives a first bevel gear through a speed reducer, and then the second bevel gear meshed with the first bevel gear is driven to realize the rotation of knuckles; then, the transmission is transmitted to a middle knuckle under the connection action of the multi-connecting-rod mechanism to realize the rotation of the middle knuckle body; the transmission mode of the far knuckle and the middle knuckle is similar to the transmission mode of the middle knuckle. The finger realizes integration of coupling movement and self-adaptive movement, and kneading and self-adaptive enveloping of objects can be realized through cooperation between fingers. In addition, the finger iscompact in structure, high in transmission precision and small in size, the transmission ratio between the two bevel gears can be adjusted according to needs to achieve deflection at different anglesand is suitable for being used as a humanoid dexterous hand.

Description

technical field [0001] The invention belongs to the technical field of robots, and in particular relates to a structural design of a coupling self-adaptive underactuated humanoid dexterous finger. Background technique [0002] With the expansion of the application range and the improvement of the operation level, while the robot completes various tasks for humans, the requirements for the end effector of the robot are also increasing day by day due to the diversification of tasks. The traditional robot-specific gripper can only grasp and operate a few specific objects, and has poor versatility, so it cannot be widely used in various changing occasions. Based on the idea of ​​imitating the human hand, the dexterous hand came into being. It has the advantages of good adaptability, high degree of freedom and rich grasping modes. have wider applications. The development of the dexterous hand has gone through several stages: fully-actuated dexterous hand, single-degree-of-freed...

AI Technical Summary

Problems solved by technology

[0003] The grasping performance of the fully-actuated dexterous hand is comparable to that of the human hand, and even better than the human hand in terms of grasping output force and grasping speed, but the fully-actuated dexterous hand usually has a complex structure, too many drives and sensors , which increases the difficulty of control, and is heavy in weight, large in size, and high in manufacturing and maintenance costs. Representatives of this kind of dexterous hands include the Utah / MIT Hand jointly developed by the Massachusetts Institute of Technology and the University of Utah, and the Shadow Hand of the British Shadow Robot Company. , DLR series dexterous hands developed by German Aerospace Center, HIT / DLR Hand developed by Harbin Institute of Technology, etc.

[0004] The single-degree-of-freedom dexterous hand has only one degree of freedom, is simple in structure, easy to control, can only realize simple closing actions, has a large grip force, and has a relatively fast response speed, but its bionic performance is poor and the degree of anthropomorphism is low

[0005] Underactuated dexterous hands can be divided into adaptive underactuated dexterous hands and coupled underactuated dexterous hands: adaptive underactuated dexterous fingers can wrap objects in the fingers according to the shape of the grasped object, which has good adaptability , but there is a phenomenon of grasping instability; coupled underactuated dexterous fingers can speed up the envelope of the finger on the object, so that the finger mechanism is more compact, and the grasping process is closer to the natural hand, but it is not self-adaptive. For most objects Can't achieve good grip

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