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A Humanoid Robot Gripper 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 improving adaptability

Active Publication Date: 2022-06-03
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

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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  • A Humanoid Robot Gripper with Variable Stiffness
  • A Humanoid Robot Gripper with Variable Stiffness
  • A Humanoid Robot Gripper with Variable Stiffness

Examples

Experimental program
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Effect test

Embodiment Construction

[0036] see Figure 1-Figure 2 As shown, a variable-stiffness humanoid robot gripper includes fingers 100 and a palm 200 connecting the fingers 100;

[0037] The finger 100 includes N fingers, and the N fingers at least have a thumb 101; wherein N is 3, 4 or 5;

[0038] The N-1 fingers except the thumb 101 have the same structure;

[0039] Each finger except the thumb 101 is driven by a variable-stiffness linear drive device E for flexion motion, and the variable-stiffness linear drive device E is mounted on the palm 200 for adjusting the stiffness of each finger to suit the grasping target;

[0040] The thumb 101 is driven to rotate by the opposite palm driver F installed on the palm 200, the thumb 101 is driven by the thumb driver D to perform flexion and yaw motion, and the relative movement of the thumb 101 and the N-1 fingers realizes the change of grasping posture.

[0041] The overall shape of the variable stiffness humanoid robot gripper is as follows: figure 1 shown...

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Abstract

A kind of variable rigidity humanoid robot gripper, it comprises finger and the palm that connects finger; Described finger comprises N finger, and N finger has thumb at least in N finger; Except thumb N-1 finger structure is identical; Except thumb each Each finger is driven by a variable stiffness linear drive device for flexion movement, and the variable stiffness linear drive device is installed on the palm to adjust the stiffness of each finger to adapt to the grasping target; the thumb is driven by an anti-palm drive installed on the palm to rotate, The thumb is driven by the thumb driver to perform flexion and yaw motions, and the relative motion of the thumb and the rest of the fingers realizes changes in grasping posture. The invention realizes the change of the rigidity of the finger joints through the variable stiffness linear drive device, cooperates with the relative movement of the thumb, and improves the adaptability of the robot claw to grasp the target.

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 the knuckles to adapt to more grasping operations, and can complete the operations by imitating the grasping action of a human hand. 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 irreplaceable role. The robot gripper with variable stiffness function can realize precise grasping of items in a state of high stiffness, and can also grab fragile items such as eggs and fruits in a state of low stiffness; while the joints are arranged with humanoid robot grippers , which can realize the grasping postures commonly used by most human han...

Claims

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Application Information

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Patent Type & Authority Patents(China)
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
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