Underactuated finger with coupled adaptive motion properties
A kinematic, underactuated technology, applied in the field of robotics, can solve the problems of unstable grasping, poor adaptive ability of underactuated fingers, complex structure, etc., to avoid the ejection phenomenon, increase passive grasping force, and reduce energy loss.
Active Publication Date: 2022-05-06
HARBIN INST OF TECH
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Problems solved by technology
[0004] In view of this, the present invention aims to propose an underactuated finger with coupling adaptive motion characteristics, which solves the problems of poor adaptive ability, unstable grasping and complex structure of the existing underactuated finger, and can realize coupling motion and self-adaptive Sports function and has the characteristics of high stability, strong adaptability and compact structure
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[0039] It should be noted that, in the case of no conflict, the embodiments of the present invention and the features in the embodiments can be combined with each other.
[0040]The present invention will be described in detail below with reference to the accompanying drawings and examples.
[0041] like Figure 1-Figure 5 As shown, an underactuated finger with coupled adaptive kinematics, including the base joint, proximal knuckle, middle knuckle and distal knuckle;
[0042] The base joint includes a driver 1, a push rod 2, a connecting rod 3, a transmission rod 4 and a base 22, the driver 1 drives the push rod 2 to perform linear motion, and the push rod 2 is connected to the connecting rod 3, The upper end of the connecting rod 3 is hinged with the lower end of the transmission rod 4;
[0043] Described proximal phalanx comprises driving rod rotating shaft 5, driving rod 6, proximal knuckle connecting rod 7, tension spring installation shaft 18, extension spring 19, proxi...
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The invention provides an underactuated finger with coupling adaptive kinematics, which includes a base joint, a proximal knuckle, a middle knuckle and a far knuckle; the base joint includes a driver, a push rod, a connecting rod, a transmission rod and a base. The driver drives the push rod to perform linear motion, the push rod is connected with the connecting rod, and the upper end of the connecting rod is hinged with the lower end of the transmission rod; Extension spring, middle shell of proximal knuckle, left side plate of proximal knuckle and right side plate of proximal knuckle; middle knuckle includes middle knuckle connecting rod rotating shaft, second circlip, middle knuckle connecting rod, fixed shaft, middle knuckle rotating shaft, The first jump ring, the middle shell of the middle phalanx, the left side plate of the middle phalanx and the right side plate of the middle phalanx; The invention can realize coupling motion and self-adaptive motion functions and has the characteristics of high stability, strong adaptability and compact structure.
Description
technical field [0001] The invention belongs to the technical field of robots, and in particular relates to an underactuated finger with coupling adaptive motion characteristics. Background technique [0002] Hands are an important tool for human survival and labor, and play an important role in daily life. As a typical mechatronics system, the humanoid prosthetic hand can compensate for the hand movement function of amputee patients, and is an important means to restore the working ability of amputee patients. Designing a prosthetic hand with light weight, low cost, human-like shape and motion function, and strong grasping ability is the focus of research in the field of prosthetic hands. [0003] At present, most of the common commercial fingers use coupling drive. The entire finger has only one degree of freedom, which is poor in anthropomorphism, and cannot realize the adaptive envelope of the object. There are few contact points between the finger and the object, and t...
Claims
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IPC IPC(8): B25J15/00B25J15/02
CPCB25J15/0009B25J15/0206
Inventor 樊绍巍戴景辉姜力吕鹏程明刘宏
Owner HARBIN INST OF TECH