Joint unit, finger device and gripper

A joint and unit connection technology, applied in the field of finger devices, grippers and joint units, can solve problems such as small workspaces, and achieve the effect of providing response speed, stable output torque, simple motion and mechanical inverse calculation
CN112571440BActive Publication Date: 2022-02-18CHINA ACADEMY OF SPACE TECHNOLOGY
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Patent Information

Authority / Receiving Office
CN Β· China
Patent Type
Patents(China)
Current Assignee / Owner
CHINA ACADEMY OF SPACE TECHNOLOGY
Publication Date
2022-02-18

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Abstract

The application discloses a joint unit, a finger device and a gripper. The cylindrical EAP driver and the SMA driver are combined through a connecting piece, and the linear drive of the cylindrical EAP driver is used to realize the freedom of movement of the joint unit, and the SMA driver is used to realize the joint The degree of freedom of rotation of the unit solves the technical problem that the working space of the mechanical fingers driven by EAP and SMA is small in the prior art, and at the same time, because the application connects the cylindrical EAP driver and the SMA driver in the form of end-to-end series , when the joint unit is used to execute the position, movement and mechanical inverse calculation of the end, the operation is simple, which is beneficial to provide a reaction speed.
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Description

technical field

[0001] The present application relates to the technical field of multi-degree-of-freedom flexible manipulators, in particular, to a joint unit, a finger device and a gripper. Background technique

[0002] In recent years, while advanced drive technology has been continuously developed, many smart drive materials have been applied in the field of manufacturing new drives. According to the different power sources used, the driving technologies widely used in electromechanical systems mainly include pneumatic drive, motor\reducer drive, shape memory alloy drive (Shape Memory Alloy, SMA), piezoelectric drive and electro-deformable polymer ( electro-active polymer, EAP) driver. Among them, as a typical artificial muscle material, EAP can be used as a driver to convert electrical energy into mechanical energy, and can also convert mechanical energy into electrical energy for power generation or sensing. Compared with traditional electromagnetic and piezoelectric ...

Claims

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