Rigid-flexible coupled underactuated finger and three-finger underactuated robotic hand

Abstract

The invention relates to the technical field of anthropomorphic robots, and provides a rigid-flexible coupling underactuated finger and a three-finger underactuated robot hand, which mainly include a finger support frame, a first phalanx, a second phalanx and a third phalanx which are rotatably connected in turn. , the second knuckle and the third knuckle constitute a four-bar linkage mechanism; the first tension spring is connected with the finger support frame and the first knuckle respectively; the second tension spring is connected with the first knuckle and the second knuckle respectively, and the The elastic coefficient of the second extension spring is greater than that of the first extension spring; the first end of the flexible belt is connected with the second knuckle, and the second end of the flexible belt is connected with the pulling mechanism. The present invention realizes the bending and stretching of the fingers through the pulling motion of the flexible belt, and the flexible belt directly touches and grasps the object. Due to the softness of the flexible belt itself, it can ensure that the flexible belt and the object can form a larger contact area and improve The adaptive ability to grasp objects of different shapes, soft and hard, and sizes.

Description

technical field [0001] The invention relates to the technical field of humanoid robots, in particular to a rigid-flexible coupling underactuated finger and a three-finger underactuated robot hand. Background technique [0002] The end effector has always been the key factor restricting the interaction between the robot and the environment. The multi-fingered robot hand, as a new generation of actuators, has begun to take shape after decades of development, but its development still faces many problems. In order to achieve the high degree of freedom and grasping flexibility of the human hand, the robot hand needs to be equipped with more drives, but it also inevitably brings problems such as complex system structure, poor environmental compliance, and high cost. In order to simplify the mechanical structure and reduce the volume and weight of the robot hand, it is necessary to set up fewer drives, but also sacrifice the performance of the robot hand's dexterous operation. The...

AI Technical Summary

Problems solved by technology

In order to achieve the high degree of freedom and grasping flexibility of the human hand, the robot hand needs to be equipped with more drives, but it also inevitably brings problems such as complex system structure, poor environmental compliance, and high cost.

In order to simplify the mechanical structure and reduce the volume and weight of the robot hand, it is necessary to set up fewer drives, but it also sacrifices the performance of the dexterous operation of the robot hand. There is a certain contradiction between the two

[0003] At present, most robot hands drive the joints of the robot fingers to bend through connecting parts such as chains or steel wire ropes, and directly contact and grasp objects through multiple knuckles of the fingers. The grasping method is rigid contact, and when performing grasping actions, The number of contact points or contact area between knuckles and objects is small, and the contact force distribution is uneven, which limits the adaptive grasping ability and leads to poor grasping stability

Therefore, the current robot hand can only meet the basic grasping function, and the adaptive adjustment ability of grasping different shapes, soft, hard and large objects is poor.

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