A Pneumatically Driven Two-Finger Manipulator

Abstract

The invention relates to a pneumatically-driven two-finger manipulator. The pneumatically-driven two-finger manipulator comprises a palm and two fingers symmetrically arranged on the palm; each fingercomprises a proximal knuckle, a middle knuckle, a near knuckle, a middle knuckle pressure sensor, a near knuckle pressure sensor, a first tendon string, a second tendon string, a first pneumatic artificial muscle, a second pneumatic artificial muscle, a third pneumatic artificial muscle, a middle knuckle synchronous pulley, a synchronous belt and a proximal knuckle synchronous pulley, wherein theproximal knuckle synchronous pulley is fixed on a joint shaft of the proximal knuckle; the first tendon string is arranged on the joint shaft of a proximal knuckle in a sleeving manner, two ends of the first tendon string are respectively connected with the second pneumatic artificial muscle and the third pneumatic artificial muscle, and the second pneumatic artificial muscle and the third pneumatic artificial muscle form an antagonistic joint. The manipulator can grab objects with smaller sizes and has high flexibility.

Description

technical field [0001] The invention belongs to the technical field of automatic grabbing equipment, in particular to a pneumatically driven two-finger manipulator. Background technique [0002] As the end effector of the robot, the manipulator establishes the connection between the robot and the external environment. The development of the manipulator always affects the application of robots in various industries. During the development of manipulators, researchers strive to design manipulators with characteristics such as versatility and flexibility, so that they can grasp various types of objects in different scenarios. However, the movement and function of most manipulators are relatively single, and the flexibility is insufficient, especially the grasping of small objects like human hands cannot be realized through fingertips. [0003] The document "Design and Test of Elastic Underactuated Four-fingered Dexterous Hand" discloses a manipulator with fewer driving units a...

AI Technical Summary

Problems solved by technology

However, the movement and function of most manipulators are relatively single, and the flexibility is insufficient, especially the grasping of small objects like human hands cannot be realized through fingertips.

[0003] The document "Design and Test of Elastic Underactuated Four-fingered Dexterous Hand" discloses a manipulator with fewer driving units and relatively simple control. A single finger can rotate three joints through one driving unit, so that it can only complete envelope grasping. It is difficult to grasp smaller objects with fingertips when grasping larger objects

The manipulator disclosed in the document "Multisensory Five-FingerDexterous Hand" is fully driven, and each joint of the finger is equipped with a driver. Although it can realize complex grasping actions, the structure is complex and difficult to control

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