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Rope-driven under-actuated five-finger manipulator

A rope-driven, manipulator technology, applied in the field of robotics, can solve the problems of unfavorable investment in the parity market, a large number of drive motors, and complex control systems, and achieve the effects of reducing manufacturing costs and weight, compact structure, and simple control systems

Pending Publication Date: 2020-08-28
SICHUAN UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The contact between the robot and the environment relies on the end effector. The early manipulators were mainly simple clamp-type and parallel-moving mechanisms. From the structure to the internal tendon transmission system, there are various researches on imitating the human hand. There are research results from Tsinghua University, Beihang University, Tianda University, Harbin Institute of Technology and other universities and research institutes in China. The common problems are poor reliability, high quality and low flexibility. However, under-actuated manipulators can only achieve passive adaptation and cannot achieve active control; abroad, there are researches on manipulators such as British Shadow Company and German Schunk Company, which have higher intelligence and flexibility, but the number of drive motors is large and the control system is complicated. , high cost, which is not conducive to putting into the parity market; so the development of a five-finger flexible underactuated manipulator with high versatility, dexterity, and light weight is very necessary

Method used

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  • Rope-driven under-actuated five-finger manipulator
  • Rope-driven under-actuated five-finger manipulator
  • Rope-driven under-actuated five-finger manipulator

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0035] see figure 1 , this rope drives under-driven five-finger manipulator, including palm 1, thumb 3, and the remaining four fingers 2. The thumb has a swingable metacarpal joint and bendable proximal and distal joints, and the remaining four fingers have flexible proximal and middle joints. , far joint, and the four finger far joints are coupling drives. The whole manipulator has 11 degrees of freedom and 4 coupling degrees of freedom. Each finger is connected to the palm front plate 12 and the palm rear plate 11 by bolt fastening connection respectively. Three motors are installed in the palm, motor one 126 is used to drive five fingers near joints to bend, motor two 130 is used to drive four finger middle joints and thumb far joints to bend, and motor three 118 is used to drive thumb metacarpal joints to swing.

[0036] Due to the modular design, the five fingers of the manipulator are divided into the thumb module and the remaining four-finger modules. The present invent...

Embodiment 2

[0038] Embodiment 2 is on the basis of embodiment 1, see figure 2 , image 3 , are respectively the front view and the right view of the palm structure of the rope-driven under-drive five-finger manipulator, the motor frame fixing holes for three motors are set on the palm rear plate 11, and the fixing holes for the steering wheel frame are set on the right side, and the four fingers are welded in the middle Corresponding to the mounting plate of the tension spring, the thumb is welded on the bottom corresponding to the mounting plate of the T-shaped groove, movable pulley, and fixed pulley, and the guide wheel mandrel is welded on both sides. The T-shaped slot 14 is directly embedded in the corresponding slot hole on the mounting plate; the fixed pulley P f1 17. Fixed pulley P f2 18 is connected with the mounting plate bolts through the through hole at the bottom of the pulley frame; the movable pulley P m1 15. Moving pulley P m2 16 is connected with steel wire rope 1 22...

Embodiment 3

[0041] Embodiment 3 is based on embodiment 2, see Figure 4 , is the structure schematic diagram of the index finger of the rope-driven under-driven five-finger manipulator. The index finger 2 is tightly connected with the front and rear plates of the palm through the bearing seat 211; 1 218, one end is connected to the inner movable pulley P of the palm by the threader 13 m1 15. The other end is connected to the tension spring one 110 in the palm by crimping the aluminum sleeve 19, so that the power of the motor one 126 is transmitted from the palm to the forefinger to realize bending near the joint; the steel wire rope two 212 bypasses the double-groove pulley P near the joint 21 210, one end is connected to the inner movable pulley P of the palm through the threader m2 16. The other end is connected to the tension spring 2 111 in the palm by crimping the aluminum sleeve, so that the power of the motor 2 130 is transmitted from the palm to the index finger, and the wire rop...

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Abstract

The invention relates to a rope-driven under-actuated five-finger manipulator. The rope-driven under-actuated five-finger manipulator comprises a palm assembly, and further comprises a thumb assembly,a four-finger assembly and a steel wire rope which installed on the palm assembly. According to the rope-driven under-actuated five-finger manipulator, through step-by-step work and synchronous workof the three rotating motors in the palm, the manipulator can grab an object in multiple modes; by adopting a rope-driven rope-pulley system structure, the number of finger driving motors is reduced on the premise that the daily life function of the manipulator is not affected, so that the manufacturing cost and weight of the manipulator are reduced, driving elements are compact in the palm, and fingers are lighter, more compact and more stable in movement; and through the manipulator, the object can be grabbed in a self-adaptive manner, and the postures of the fingers can be actively adjustedto a proper position for more accurate grabbing.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a rope-driven underactuated five-finger manipulator. Background technique [0002] In recent years, with the rapid development of the economy, robots have also been developed rapidly and widely used in various fields. The manipulator is the final actuator of the robot's work, and its performance directly determines the working ability of the robot. [0003] The contact between the robot and the environment relies on the end effector. The early manipulators were mainly simple clamp-type and parallel-moving mechanisms. From the structure to the internal tendon transmission system, there are various researches on imitating the human hand. There are research results from Tsinghua University, Beihang University, Tianda University, Harbin Institute of Technology and other universities and research institutes in China. The common problems are poor reliability, high quality and low flexib...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J15/00B25J15/02
CPCB25J15/0009B25J15/0233
Inventor 刁燕樊庆怡于晓春罗华
Owner SICHUAN UNIV
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