Sliding block type underactuated three-joint mechanical finger structure and manipulator and operation methods thereof

Abstract

The invention discloses a sliding block type underactuated three-joint mechanical finger structure and manipulator and operation methods of the sliding block type underactuated three-joint mechanicalfinger structure and manipulator. The sliding block type underactuated three-joint mechanical finger structure comprises a proximal knuckle, a middle knuckle and a far knuckle, wherein the proximal knuckle, the middle knuckle and the far knuckle are connected in sequence. Points A, B, C, D, E, F, G, H, I, J, K and L are sequentially arranged in the direction from the proximal knuckle, the middle knuckle to the far knuckle and constitute a rotating pair. A first sliding block is arranged on the proximal knuckle. A second sliding block is arranged on the middle knuckle. Moving pairs are formed for the first sliding block and the proximal knuckle and for the second sliding block and the far knuckle. A moving member is formed by the points A, B, C, D, E, F, G, H, I, J, K and L and a point M. The sliding block type underactuated three-joint mechanical finger structure and manipulator are simple in structure, require few driving elements, can serve as a grasping mechanism adaptively graspingobjects with different shapes, namely, reliably grasp the objects through transformation, and realize self-adaptive object grasping.

Description

technical field [0001] The invention belongs to the technical field of mechanical production, and in particular relates to a slider-type underactuated three-joint mechanical finger structure, a mechanical hand and an operating method thereof. Background technique [0002] With the continuous development of mechanical intelligence and intelligent machinery, the research on mechanical adaptive structures that can automatically adapt to the external environment and work objects has become a research hotspot for institutional scholars at home and abroad. Anthropomorphic manipulators have been deeply researched in robotics and engineering applications due to their adaptive grasping function that can automatically adapt to changes in parameters such as the size and shape of the grasped object, and have achieved great results. As one of the manipulators with adaptive function, the dexterous hand has strong grasping function, but its working reliability is affected due to its multi-...

AI Technical Summary

Problems solved by technology

As one of the manipulators with adaptive function, the dexterous hand has strong grasping function, but its working reliability is affected due to its multi-finger, multi-degree-of-freedom, and multi-drive characteristics, which restricts the expansion of its application range.

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