Under-actuated dexterous hand finger

Abstract

The invention discloses an under-actuated dexterous hand finger. The under-actuated dexterous hand finger comprises a far knuckle, a far end rotating joint, a middle knuckle, a middle rotating joint,a near knuckle, a near-end rotating joint, a base, an elastic recovery rope and a tendon rope. Pre-tightening adjusting blocks integrated in the knuckle can be adjusted by pre-tightening nuts to realize the later-stage pre-tightening of the tendon rope. When the tendon rope is loosened in the later use process, the pre-tightening adjusting blocks are adjusted through the pre-tightening nuts, and the tendon rope is not required to be pre-tightened by dismounting a dexterous hand, so that a large movement transmission error caused by looseness of the tendon rope is avoided, and the problem thatthe tendon rope is loosened in the long-term use process of the tendon rope transmission type dexterous hand is solved. The whole circumference of a fixed pulley is replaced with arc-shaped through holes of the pre-tightening adjusting blocks instead of the whole circumference of the fixed pulley, so that the inner space of the finger is further saved, and the size of the dexterous hand finger isfurther reduced; and the adjustable range of a transmission track of the tendon rope is enlarged by replacing the whole circumference of the pulley by using the arc-shaped through holes.

Description

technical field [0001] The invention relates to the field of robots, in particular to an underactuated dexterous finger. Background technique [0002] With the development of society, robots are gradually entering people's daily life, especially in the field of nursing robots. At this time, higher requirements are put forward for the flexibility of robot end effectors. The robotic dexterous hand is a good way to achieve this requirement, and the anthropomorphic nature of the dexterous hand endows it with more delicate manipulation capabilities. [0003] The existing dexterous hands can be divided into full-drive dexterous hands and under-drive dexterous hands according to the driving mode. The under-actuated dexterous hand is to save the internal space of the fingers and make the dexterous hand more compact and human-like. The most common transmission method is Using tendon rope transmission. When the tendon rope is driven, it is necessary to consider its reasonable layout...

AI Technical Summary

Problems solved by technology

Chen Yuyu pointed out in the document "Analysis of the Structural Design of Multi-Finger Bionic Hands" that the ropes of the tendon-rope transmission robot dexterous hand will loosen during long-term use, and re-tightening is required, and the process of disassembling and assembling the dexterous hand is complicated

The four rope pretensioning methods proposed by Fan Dapeng in the document "Research Status and Analysis of Precision Flexible Cable Transmission Technology" are relatively complicated and difficult to realize, and the internal use of fixed pulleys as the tendon rope transmission track takes up a large amount of time. internal space of fingers

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