Robot end dexterous underactuated bionic gripper

Abstract

The invention discloses a robot end dexterous underactuated bionic gripper. The bionic gripper comprises a base, a driving mechanism and at least two bionic fingers circumferentially distributed on the base, wherein any one bionic finger comprises a proximal knuckle, a middle knuckle, a front fingertip joint, a first pulley block, a second pulley block, a winch, an imitative flexor cable, an imitative extensor cable and a tension spring; the middle knuckles, the proximal knuckles and the front fingertip joints are flexibly and pivotally connected in sequence; the imitative flexor cables and the imitative extensor cables are flexible cables and are connected to the winches by the corresponding pulley blocks. During operation, the winches are driven to rotate forward and backward by controlling the driving mechanism, so that clamping, expanding and clamping positions and clamping force of parallel manipulators. Compared with a plurality of dexterous hand products in the current market, the structure has the advantages that responding is fast during gripping and expansion, gripping and clamping force is more balanced, and the structure is compact.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a dexterous underactuated bionic gripper at the end of a robot. Background technique [0002] The research on bionic grippers is considered to be one of the most challenging tasks. In recent decades, in order to simulate the movements of human hands, many research institutions have made fruitful research on the design, analysis and control of humanoid manipulators. Numerous dexterous hands with precise grasping and manipulation functions have come out one after another. In order to enhance the dexterity of the bionic manipulator, it is usually necessary to design more joint degrees of freedom for the manipulator, and various highly articulated dexterous hands such as DEXMART hands, Utah / MIT hands, and NASA hands have emerged as the times require. This type of manipulator is mainly based on the background of space operation, and the control strategy is complex. It is necessary to ...

AI Technical Summary

Problems solved by technology

However, the hand operation and grasping action of the current mainstream mechanical grippers need to be driven by multiple motors. The disadvantage is that the control strategy is complex. It is necessary to establish a complex kinematic model of fingers and objects and match complex control strategy algorithms; Simple driving grippers in the form of adsorption, two-finger opening and closing clamping, etc. have the disadvantages of poor grasping accuracy and adaptive ability, and cannot meet the development trend of robot tool flexibility

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