Three-finger smart end-effector for palm of three-motor-driven serial mechanism

Abstract

The invention relates to the technical field of robots and automation, in particular to a three-finger smart end-effector for a palm of a three-motor-driven serial mechanism. A motor worm speed reducer drives a threaded head drive shaft to rotate; a drive gear on the threaded head drive shaft and a bevel hole gear on a threaded head driven shaft are engaged, are equal in rotation speed and are reverse in rotation directions; open slot rods I are separately and perpendicularly fixed at the outer end of the threaded head drive shaft and the threaded head driven shaft; a motor planetary wheel speed reducer is mounted at the other end of each open slot rod I; the output shafts of the motor planetary wheel speed reducers, the threaded head drive shaft and the threaded head driven shaft are parallel to each other; a long finger base is fixedly arranged on the bottom plate; short finger bases and long finger bases are separately mounted on the two open slot rods I or the two open slot rods I;and right-angled plate fingers are arranged on the two short finger bases. The three-finger smart end-effector is easy in determining a final grabbing posture and path planning of obstacle avoiding motion in a finger grabbing process, and is suitable for grabbing objects of different shapes and dimensions.

Description

technical field [0001] The invention relates to the technical field of robots and automation, in particular to a three-finger dexterous end effector with three motors driving a series mechanism palm. Background technique [0002] Grasping manipulators, also known as end effectors and end grippers, are operating tools for robots to grab objects. Due to the complexity of grasping objects, except for some humanoid dexterous manipulators with high cost and complex devices, the rest of the end effectors cannot universally and reliably grasp different types of objects. As far as the contact state is concerned, in order to adapt to the different shapes of grasped objects such as cuboids, cylinders, and spheres, the root of the finger needs to be transposed so that the finger contact surface can better adapt to grasped objects of different shapes. It is the basic function of the palm. [0003] For the grasping objects such as agricultural products and food, due to the size change ...

AI Technical Summary

Problems solved by technology

[0005] The defects of the manipulator are: ① rely on a single finger to locate and grab objects, the references do not coincide, the offset between the origin of the coordinates of the manipulator and the center of mass of large and small objects is large, and the eccentric force distance of the manipulator is large; ② rely on a single finger to position and grab objects , due to the positioning accuracy of the mechanical arm, the grasped object moves a little during the grasping process; ③ two moving fingers instead of three fingers move to the grasped object at the same time, and the efficiency of the clamping process is low; ④ double-drive five-bar slider parallel mechanism Drive the displacement of the second finger, because the angle of displacement at the position determined by the x and y coordinates is determined, and the curved surface of the grasped object is contacted with a finger whose cross section is a plane, or the plane contact of the grasped object is used. The cross-section of fingers is curved, and the versatility of vertically grasping cylinders and cuboids is not good enough; ⑤ especially the crank-rocker-slider parallel mechanism can form a positive crank-rocker mechanism (the angular displacement direction of the crank and rocker is the same) and reverse Crank rocker mechanism (the angular displacement direction of the crank and the rocker is opposite), it will experience a dead point state during the transition (in this state, the connecting rod and the rocker are in a straight line), and the rocker hinge seat (that is, the slider) is driven by the screw It is driven by a motor, and it is more difficult to avoid the dead point by the coordinated control of the screw motor and the crank motor

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