Horizontal clamping self-adaptive three-finger underactuated robot hand

A robotic hand and underactuated technology, applied in the field of robotics, can solve problems such as complex structure, large mass and volume, and difficult control, and achieve the effects of low manufacturing and maintenance costs, large grasping range, and compact structure
CN110900641AActive Publication Date: 2020-03-24BEIJING UNIV OF TECH
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Patent Information

Authority / Receiving Office
CN Β· China
Patent Type
Applications(China)
Current Assignee / Owner
BEIJING UNIV OF TECH
Publication Date
2020-03-24

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Abstract

The invention belongs to the technical field of robots, and in particular relates to a horizontal clamping self-adaptive three-finger underactuated robot hand. The flat clamp self-adaptive three-finger underactuated robot hand which has six degrees of freedom is composed of a base and three underactuated fingers. The three underactuated fingers comprise the first finger, the second finger and thethird finger. The three fingers are mounted in the base in triangular distribution and are fixedly connected together to the base through screws. The three underactuated fingers are totally same in structural dimension and are driven by drivers, gear transmission structures, connecting rod mechanisms and gear and rack mechanisms, so that one motor controls two joints of the fingers. The hand in acompound grabbing mode of clamping objects of different shapes and dimensions horizontally and enveloping the objects of different shapes and dimensions self-adaptively is compact in structure, high in integration level, low in manufacturing and maintenance cost and large in grabbing range, and can be used as an end executor of an intelligent robot.
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Description

technical field

[0001] The invention belongs to the technical field of robots, and in particular relates to the structural design of a flat clamp self-adaptive underactuated robot hand. Background technique

[0002] With the progress of society and the development of science and technology, robot technology is more and more widely used in people's daily life. As the execution part of the robot to contact with the outside world and complete tasks, the performance of the robot hand directly affects the execution effect and work efficiency of the robot's grasping objects. The multi-fingered dexterous hand is equipped with a driver for each degree of freedom. It has rich sensors and powerful functions. However, its structure is complex, its mass and volume are relatively large, and it is difficult to control. This reduces the flexibility and controllability of the manipulator, and also increases the manipulator. development costs.

[0003] Underactuated robotic hands can overc...

Claims

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