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A two-finger manipulator based on one-way transmission

A one-way transmission and manipulator technology, applied in the field of machinery, can solve problems such as difficult fine work and large volume, and achieve the effects of reducing production difficulty, high transmission efficiency, and low resistance

Active Publication Date: 2022-04-19
HUNAN UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, this will cause the manipulator to need to set up enough space for the lifting of the screw mechanism, resulting in a large overall volume, which is difficult to apply to fine work occasions

Method used

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  • A two-finger manipulator based on one-way transmission
  • A two-finger manipulator based on one-way transmission
  • A two-finger manipulator based on one-way transmission

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0052] Such as Figure 1-8The shown two-finger manipulator based on one-way transmission includes a base, and finger bases 105 are respectively fixed on both sides of the base. 4 are relatively arranged; the left finger 1 and the right finger 4 both include a far knuckle 101, and the far knuckle 101 is hingedly connected with the proximal knuckle 5 through the distal knuckle joint shaft, and the proximal knuckle 5 is connected to the finger base through the proximal knuckle joint shaft 106 105 is hingedly connected; the far knuckle 101 and the proximal knuckle 5 are hingedly connected by the interphalangeal joint shaft; the proximal knuckle shaft 106 is fixed with the proximal joint pulley 110; the interphalangeal joint shaft is fixed with the distal joint pulley 6, and A distal knuckle pulley 102 is connected to the shaft on the knuckle 101; a middle pulley 108 is connected to the shaft on the finger base 105;

[0053] A rotating power device is installed on the base, and th...

Embodiment 2

[0065] Such as Figure 9 As shown, in order to minimize the driving force F of the driving rope, thereby reducing the driving power of the motor, the volume of the device and the cost, the following improvements are made:

[0066] f=f 1 or f 2 ; f 1 Indicates the restoring force of the returning spring, f 2 Indicates the restoring force of the flexible elastic band; F indicates the driving force of the driving rope; r 11 Indicates the radius of the rope wheel of the proximal joint pulley; r 21 Indicates the radius of the rope wheel of the far joint pulley; q 1 Indicates the bending angle of the proximal knuckle, q 2 Indicates the bending angle of the distal knuckle; l 3 Indicates the change in length of the driving rope; r 12 Represents the radius of the convex ring 1061 on the proximal knuckle shaft 106; r 22 Indicates the radius of the convex ring 1061 on the shaft of the far knuckle joint; l 2 Indicates the length variation of the synergistic elastic band; r 13 I...

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Abstract

The invention discloses a two-finger manipulator based on one-way transmission. The hand includes a base and two finger modules. The two finger modules are respectively arranged on the hinged bases of the left and right fingers. Each finger includes a far knuckle and a proximal knuckle, the far knuckle is hingedly connected with the proximal knuckle, and the proximal knuckle is hingedly connected with the finger base through the proximal knuckle joint axis. The two-fingered hand of the present invention has a total of four degrees of freedom. The steel wire rope and the pulley are based on the biomechanical characteristics of human hands and the principle of motion statistics to form a transmission chain driven by only one motor, and the steel wire rope is driven by a steering gear to realize the bending of the fingers. The movement and the coordination of the far knuckles are driven by the elastic belt and the wire rope to keep the far knuckles always parallel to achieve grasping without external force. The fingers can be returned to the original position through the elastic band and the spring, so that only one motor is needed to realize the gripping and grasping action of the manipulator.

Description

technical field [0001] The invention belongs to the mechanical field, in particular to a two-finger manipulator based on one-way transmission. Background technique [0002] In recent years, the field of robotic grasping and dexterous manipulation has received increasing attention as robots have begun to interact with their surroundings and assist humans in performing dexterous tasks. The manipulator can be considered as a key component of automated operation because it interacts with the environment, especially in the ease of use of the robot, the degree of automation, and the research and application of grasping. It is one of the core components of the robot. [0003] However, the existing robot fingers usually pull the rope through the lifting of the screw mechanism, so as to drive the coupled movement of the fingers. However, this will cause the manipulator to be provided with enough space for the screw mechanism to go up and down, resulting in a large overall volume, wh...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J15/02B25J15/08B25J9/10
CPCB25J15/0233B25J15/08B25J9/104
Inventor 陈文锐林辉煌鄢锉王耀南李娟刁强刘武
Owner HUNAN UNIV
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