Co-circular slide bar straight line parallel clamping indirect self-adaptive robot finger device

Abstract

The invention provides a co-circular slide bar straight line parallel clamping indirect self-adaptive robot finger device and belongs to the technical field of robot hands. The co-circular slide bar straight line parallel clamping indirect self-adaptive robot finger device comprises a base, an actuator, a first finger segment, a second finger segment, a nearby joint shaft, a far joint shaft, a first shaft, a second shaft, a third shaft, a first connecting rod, a second connecting rod, a third connecting rod, a fourth connecting rod, a first slide bar, a pulley, a limiting block, a tension spring and the like. By means of the co-circular slide bar straight line parallel clamping indirect self-adaptive robot finger device, the functions of straight line parallel clamping and self-adaptive grabbing of a robot finger are achieved; the second finger segment can be translated linearly to pinch and hold an object, and the device is applicable to grabbing a thin-plate object on a working table; and besides, the first finger segment can also be turned firstly, and after the first finger segment is in contact with the object, the second finger segment is turned to envelope objects of different positions, shapes and sizes. The co-circular slide bar straight line parallel clamping indirect self-adaptive robot finger device is wide in the grabbing range, compact in structure and small in volume; one actuator is utilized to actuate two joints, and complex sensing and control systems are not needed; the manufacturing and maintenance costs are low; and the device is applicable to robot hands.

Description

technical field [0001] The invention belongs to the technical field of robotic hands, and in particular relates to a structural design of a co-circular sliding rod linear flat clip indirect self-adaptive robot finger device. Background technique [0002] The robot hand is an important device for the robot system to realize the grasping function. The method of grabbing an object is to limit the possibility of movement of the object in that direction from two opposite directions. There are multiple directions for the movement of objects in space. In order to limit the various movement possibilities of the grasped objects, the robot hand needs to display different grasping modes for different grasping objects, thereby limiting the movement of objects in all directions. Parallel clamping grasping (referred to as flat clamping grasping) is a common grasping method. The terminal finger segments always maintain a relatively fixed posture relative to the palm base during the moveme...

AI Technical Summary

Problems solved by technology

Its shortcoming is that the device can only realize the linear parallel clamping function, and cannot realize the function of adaptive envelope grabbing

The disadvantage of this device is that in the stage of grasping by the flat clip, the end of the finger moves in a circular arc——the end of the circular arc moves in translation, which cannot achieve the effect of linear translation of the end finger segment. , requires the precise linear translational control cooperation of the manipulator, thus increasing the dependence on the cooperative control programming of the manipulator

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