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Under driving mechanical finger device capable of shape self adaptation

A mechanical finger and under-actuated technology, which is applied in the field of humanoid robots, can solve the problems of excessive human-hand differences, large human-hand differences, and not suitable for imitation, etc., and achieve the effect of reducing requirements, small size, and light weight

Inactive Publication Date: 2003-04-16
TSINGHUA UNIV
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Problems solved by technology

[0006] The weak point of this device is: this device adopts multistage gear transmission, is a gear box at the joint place, and volume is larger; One end of the finger is much thicker than the other end, which is quite different from the human hand; although the device is basically feasible to imitate the thumb, it is not suitable for imitating other fingers except the thumb, and if multiple devices are connected to form index finger and middle finger , ring finger and little finger, the appearance will be too different from the human hand

Method used

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  • Under driving mechanical finger device capable of shape self adaptation
  • Under driving mechanical finger device capable of shape self adaptation
  • Under driving mechanical finger device capable of shape self adaptation

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Embodiment Construction

[0050] The content of the specific structure and working principle of the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments.

[0051] An embodiment of an underactuated mechanical finger device with shape adaptation designed by the present invention is as follows figure 1 , 2 , 3, and 4, it mainly includes the first phalanx 1, the second phalanx 2 and the underactuated joint 3 set between the two; the said underactuated joint 3 includes the active slider 4, the joint gear shaft 13. Rack 12, spring 8; said joint gear shaft is arranged between the first phalanx 1 and the second phalanx 2 and fixedly connected with the second phalanx, and said active slider 4 is embedded in the first In the knuckle 1, the rack 12 is fixedly connected to the driving slider 4 and meshes with the gear on the joint gear shaft 13, and the spring 8 is arranged between the first knuckle 1 and the driving slider 4, In the absence of...

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Abstract

A shape-adaptive under-driven mechanical finger for robot is composed of a first finger segment, an under-driven joint and a second finger segment. The under-driven joint consists of an active slide block inlaid in the first finger segment, a joint gear axle fixed to the second finger segment, a rack bar fixed to the said active slide block and matched with the said gear, and a spring between thefirst finger segment and the active slide block. It can grasp objects with different shapes.

Description

technical field [0001] The invention belongs to the technical field of anthropomorphic robots, and in particular relates to a structural design of a shape-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 a shape-adaptive u...

Claims

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Application Information

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IPC IPC(8): B25J15/10
Inventor 张文增陈强孙振国徐济民
Owner TSINGHUA UNIV
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