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
CN1289269CInactive Publication Date: 2006-12-13TSINGHUA UNIV
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
TSINGHUA UNIV
Publication Date
2006-12-13
Estimated Expiration
Not applicable · inactive patent

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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.
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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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