An underactuated dexterous hand finger
A dexterous hand and underactuated technology, applied in the field of robotics, can solve the problems of complex disassembly and assembly of dexterous hands, internal space of big fingers, complex implementation methods, etc., to save internal space of fingers, increase fingertip force, and save internal space Effect
Active Publication Date: 2022-04-01
HEBEI UNIV OF TECH
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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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[0040] Specific examples of the present invention are given below. The specific embodiments are only used to further describe the present invention in detail, and do not limit the protection scope of the claims of the present application.
[0041] The invention provides an underactuated dexterous hand finger (referred to as finger, see Figure 1-10 ), characterized in that the finger includes a far knuckle 1, a distal knuckle 2, a middle knuckle 3, an intermediate knuckle 4, a proximal knuckle 5, a proximal knuckle 6, a base 7, an elastic return rope 8 and a tendon cord 9;
[0042] The far phalanx 1 includes the left phalanx 11 of the far phalanx, the right phalanx of the far phalanx and the fingertip pressure sensor 14; the distal rotary joint 2 includes a No. 1 stepped shaft 21 and a No. 1 spring 22; the middle phalanx 3 Including the front phalanx 31 of the middle phalanx, the left phalanx 32 of the middle phalanx, the rear phalanx 33 of the middle phalanx, the right phalan...
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The invention discloses an underactuated dexterous hand finger, which comprises a distal phalanx, a distal revolving joint, a middle phalanx, an intermediate revolving joint, a proximal phalanx, a proximal revolving joint, a base, an elastic recovery rope and a tendon rope. The preload adjustment block integrated in the knuckle can be adjusted through the preload nut to achieve multiple preloads of the tendon rope in the later stage. When the tendon rope is loose in the later stage of use, adjust the preload adjustment block through the preload nut, without disassembling and dexterous hands to make the tendon rope pre-tighten again, avoiding large motion transmission errors due to the slack tendon rope, and solving the problem of tendon rope transmission. The problem of loose tendons during long-term use of dexterous hands. Using the arc-shaped through hole of the preload adjustment block to replace the entire circumference of the fixed pulley further saves the internal space of the finger, making the size of the finger of the dexterous hand further reduced, and by using the arc-shaped through hole instead of the entire circumference of the pulley to increase The adjustable range of the tendon rope transmission track is improved.
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...
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IPC IPC(8): B25J15/00B25J9/10
CPCB25J15/0009B25J9/104
Inventor 刘今越赵松郭士杰
Owner HEBEI UNIV OF TECH