Underactuated finger combination mechanism for changing enveloping space by radially adjusting swing rod fulcrums

Abstract

The invention relates to an underactuated finger combination mechanism for changing enveloping space by radially adjusting swing rod fulcrums. The underactuated finger combination mechanism mainly comprises three finger grabbing assemblies and an enveloping space adjusting assembly, wherein each finger grasping assembly comprises a driving push rod and three knuckles, the three knuckles can be sequentially attached to the upper part, the middle part and the lower part of an object under the driving of the driving push rod, and the three finger grasping assemblies work at the same time to graspthe object in the enveloping space. The grabbing assembly of an underactuated structure can grab objects of different shapes and sizes in a self-adaptive mode, the underactuated structure is simple and compact in structure, light in weight and low in cost, a lead screw of the enveloping space adjusting assembly can drive a lifting adjusting plate to move up and down, a second connecting rod hinged to the first knuckle pulls a first connecting rod to move in a guide hole in the radial direction to change the radial position of the fulcrum at the lower end of the first knuckle, and therefore the size of the enveloping space among the three finger grabbing assemblies is changed, and the underactuated finger mechanism has self-adaptability and flexibility when grabbing an object.

Description

technical field [0001] The invention relates to the technical field of intelligent manipulators, in particular to an underactuated finger combination mechanism for radially adjusting the fulcrum of a swing rod to change the envelope space. Background technique [0002] The manipulator is an important interface for the robot to interact with the surrounding environment. The flexible manipulator is an important part of the robot, and its importance is self-evident; in mobile robots, especially mobile robots that use power to provide energy, reducing energy consumption is an important Indicators for special consideration. Therefore, underactuated manipulators with fewer drive units and less energy consumption have become the first choice for mobile robots. However, unlike the motion and grasping force of the joints of the fully-driven manipulator, which are completely determined by the drive unit, the motion of the joints of the under-actuated manipulator is also affected by t...

AI Technical Summary

Problems solved by technology

However, unlike the motion and grasping force of the joints of the fully-driven manipulator, which are completely determined by the drive unit, the motion of the joints of the under-actuated manipulator is also affected by the mechanical structure and external contact, resulting in uncertainty in the fingertip trajectory. The manipulator loses the flexibility of grasping, which poses a severe test for the underactuated manipulator to accurately grasp objects

[0003] Therefore, on the premise of maintaining the advantages of the underactuated hand itself, how to improve its grasping flexibility and firmness has become an urgent problem to be solved; in addition, the maximum space of the envelope formed between the fingers of the existing underactuated manipulator It is fixed and cannot be adjusted, which limits the ability of the underactuated manipulator to adapt to different object sizes when grasping objects, and reduces the performance of the manipulator when grasping

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