Under-driven adaptive mechanical finger

A mechanical finger and underactuated technology, applied in the field of anthropomorphic robots, can solve the problems of large size, unsuitability for anthropomorphic robots, complex four-bar linkage mechanism, etc., and achieve the effect of strong self-adaptation and reduced control accuracy

Inactive Publication Date: 2006-12-13
TSINGHUA UNIV
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  • Abstract
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Problems solved by technology

[0004] The weak point of this device is: the motor of this device, pulley transmission mechanism, leading screw transmission mechanism are not only complicated to install, and heavier, volume is larger, can not be installed in finger knuckle, can only be installed in the palm base, The base of the palm is very bulky; the multiple four-bar linkage mechanisms that realize the sequential rotation of the finger knuckles are complicated and the manufacturing cost is high; it is not suitable for use on anthropomorphic robots

Method used

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Embodiment Construction

[0036] Content of the present invention is described in detail as follows in conjunction with embodiment and accompanying drawing:

[0037] An embodiment of an adaptive underactuated mechanical finger device designed by the present invention is as follows figure 1 , 2 . An underactuated joint 3 is sleeved between the first knuckle 1 , the active plate 4 and the second knuckle 2 .

[0038] The first phalanx 1 includes a first phalanx middle plate 5 , a left bearing plate 7 and a right bearing plate 6 . The three are fixed together by screws.

[0039] The active board 4 includes an active board skeleton 17 , a left side board 8 , a right side board 18 , and an active board surface board 19 . The active plate skeleton 17 is fixed together with the left side plate 8 and the right side plate 18 by screws. Active plate surface plate 19 is bonded on the surface of active plate skeleton 17 with glue.

[0040] The second phalanx 2 includes a second phalanx frame 11 , a second pha...

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Abstract

An under-driven adaptive mechanical finger has the first and the second knuckles, active plate and under-driven joint consisting of big gear axle, duplicate gear axle, small gear axle and spring linked between two knuckles. The said three gear axles are sleeved on the first bnackle. Its advantages are no need of own driver, lifelike appearance similar to human finger, small size, simple structure, light weight, low requirement to control system, and several degrees-of-freedom.

Description

technical field [0001] The invention belongs to the technical field of humanoid robots, and in particular relates to a structural design of an adaptive underactuated mechanical finger device. Background technique [0002] Similar to humans, most functions of anthropomorphic robots are realized through hand manipulation, so the hand structure is an important part of anthropomorphic robots, and its design is one of the key technologies of anthropomorphic robots. In order to increase the anthropomorphism of the hand, more joint degrees of freedom should be designed for the hand. However, in order to reduce the control difficulty of the anthropomorphic robot hand, as well as reduce the volume and weight of the hand, it is necessary to reduce the number of drivers. Certain contradictions, in addition, in order to better grasp the object, it is also necessary for the finger to have a certain degree of adaptability when grasping the object. Designing an adaptive underactuated mech...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J15/08
Inventor 张文增陈强孙振国
Owner TSINGHUA UNIV
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