Humanoid robot claw with variable stiffness
A humanoid robot and variable stiffness technology, applied in the field of robotics, can solve the problems of limited available scenes and grasping postures, large differences between human hands, etc., to achieve the effect of improving grasping ability, grasping accuracy, and large sensor arrangement space
Active Publication Date: 2020-09-18
HARBIN INST OF TECH
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Problems solved by technology
Traditional robotic grippers usually adopt a constant stiffness method, and the joint arrangement is quite different from that of the human hand, so the available scenarios and grasping postures are limited
Method used
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Embodiment Construction
[0036] see Figure 1-Figure 2 As shown, a humanoid robot gripper with variable stiffness includes fingers 100 and palm 200 connected to fingers 100;
[0037] The fingers 100 include N fingers, and the N fingers have at least a thumb 101; wherein N is 3, 4 or 5;
[0038] N-1 fingers except thumb 101 have the same structure;
[0039] Each finger except the thumb 101 is driven by the variable stiffness linear drive device E for flexion movement, and the variable stiffness linear drive device E is installed on the palm 200 for adjusting the stiffness of each finger to adapt to the grasping target;
[0040] The thumb 101 is driven to rotate by the anti-palm driver F installed on the palm 200, and the thumb 101 is driven by the thumb driver D to perform flexion and yaw motions. The relative movement between the thumb 101 and the N-1 finger realizes the change of grasping posture.
[0041] The overall shape of the variable stiffness humanoid robot gripper is as follows: figure 1 s...
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The invention discloses a humanoid robot claw with variable stiffness. The humanoid robot claw comprises fingers and a palm connected with the fingers; the fingers contain N fingers, and in the N fingers, a thumb is at least arranged; and the N-1 fingers except the thumb are of the same structures; except for the thumb, each finger is driven by a variable stiffness linear driving device to do curvature movement, and the variable stiffness linear driving device is installed on the palm and used for adjusting the stiffness of each finger to adapt to a grasping target; and the thumb is driven byan opposite palm driver installed on the palm to rotate, the thumb is driven by a thumb driver to do curvature and deflection movement, and the change of grasping posture is achieved by the relative movement of the thumb and other fingers. According to the humanoid robot claw, the change of finger joint stiffness is achieved through the variable stiffness linear driving device, the relative movement of the thumb is matched, and the adaptability of the robot claw to grasp the target is improved.
Description
technical field [0001] The invention belongs to the field of robots, and relates to a variable-stiffness humanoid robot gripper, which can adjust the stiffness of knuckles to adapt to more grasping operations, and can complete tasks by imitating the grasping actions of human hands. Background technique [0002] With the development of science and technology and the emergence of emerging disciplines, many fields such as industrial production, medical equipment, and space exploration have put forward higher requirements for the field of robotics. A robot gripper with stronger functions and better adaptability has great potential for it. irreplaceable role. CN201910084183.2, an underactuated manipulator with variable stiffness based on metamorphic principle, adopts variable stiffness palm frame and palm frame buffer layer with variable stiffness, the thumb cannot rotate circumferentially and sideways, CN201711448741.6, a The variable stiffness soft hand driven by structural de...
Claims
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Login to View More IPC IPC(8): B25J15/00B25J15/10B25J17/00
CPCB25J15/0009B25J15/10B25J17/00
Inventor 臧希喆张璞刘玉斌刘刚峰赵杰
Owner HARBIN INST OF TECH