Flexible under-actuated dexterous manipulator based on linear transmission and modularized fingers

Abstract

The invention discloses a flexible under-actuated dexterous manipulator based on linear transmission and modularized fingers, and relates to a dexterous hand structure. The invention aims to provide the flexible under-actuated dexterous manipulator which is reliable in structure, convenient to assemble, high in grabbing capacity, high in precision and good in body flexibility. The flexible under-actuated dexterous manipulator comprises a palm base frame, a plurality of modularized finger units are mounted on the palm base frame, each modularized finger unit comprises a motor unit and a finger body, an output shaft of each motor unit is connected with a large pulley, a Dyneema line is wound and fixed on each large pulley, and each finger body comprises a plurality of knuckles. Every two adjacent knuckles are movably connected through a rotary supporting shaft, a knuckle guide pulley is arranged in each knuckle, and a Dyneema line guided out of the large pulley passes through the knuckle guide pulleys in all the knuckles after being guided by the horizontal guide pulleys in the horizontal direction and the vertical guide pulleys in the vertical direction, and finally, the Dyneema line is fixed onto a linear transmission tail end connecting shaft, and fingertip pressure sensors are installed on the knuckles at the tail end.

Description

technical field [0001] The invention relates to a compact dexterous hand structure, in particular to a flexible underactuated dexterous manipulator based on wire transmission and modular fingers. Background technique [0002] The dexterous hand, also known as the dexterous manipulator, belongs to the category of robot end effectors. According to the driving mode, it can be divided into motor drive, hydraulic drive and pneumatic. According to the transmission mode, it can be divided into three categories: wire transmission, connecting rod transmission and rack and pinion transmission. The emergence of the dexterous hand is mainly to solve the problem of effective grasping and fingertip flexible operation of irregularly shaped objects in automated production or daily life, typically for grasping various production tools and daily necessities and operating electronic instruments and power tools, etc. . Based on this application requirement, the dexterous hand needs to have hi...

AI Technical Summary

Problems solved by technology

[0005] 1) The dexterous hand driven by connecting rod and rack and pinion lacks the flexibility of the body structure, and the robustness is not good after being subjected to a large impact from the outside world. The connecting rod transmission structure is easily damaged, which affects the robustness of the dexterous hand. and stability;

[0006] 2) Each finger module inside the dexterous hand has a coupling relationship between structure and assembly, which has a relatively large negative impact on the assemblability, maintainability and cost control of the overall structure;

[0007] 3) The linear motor used by the dexterous hand has the defect of small output torque due to the limitation of size and transmission efficiency. Even if the relevant mechanical self-locking mechanism is equipped on the finger joint, it still affects the high-strength performance of the dexterous hand to grasp the object, especially It is a large load occasion with high requirements for grip dynamics;

[0008] 4) The dexterous hand is only equipped with a position encoder at the motor end, and lacks the integration of fingertip pressure sensors, resulting in insufficient perception of external interaction force information, which affects subsequent accurate fingertip operations based on force interaction

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