An underactuated robot finger based on a straight decoupled mechanism

Abstract

The application relates to an under-actuated robot finger based on a straight decoupling mechanism and relates to the technical field of intelligent robots. A base joint frame and three movable knuckle frames are connected through joints to form a base body structure, a bottom fixed driver is connected with a transmission screw lever, the top end of a transmission connecting rod is hinged with the end of a middle knuckle frame, two slide hole and slide rod sliding pairs are arranged at the bottom end, the bottom end of the slide rod is hinged with the top rear side of the base joint frame and is supported by a spring, the bottom of the transmission connecting rod is formed with a ball screw pair with the screw lever, the two ends of the middle knuckle connecting rod are respectively hinged with the front side of the end of a far knuckle frame and the rear side of the top of a near knuckle frame, and a position sensor, a matched magnetic steel and a Hall sensor collect position signals. The under-actuated mechanism based on the driver-screw-coupling adaptive connecting rod is adopted to realize power transmission of the driver to the three movable knuckles, complete stable and soft adaptive enveloping grabbing of an object, and have the advantages of simplicity, high efficiency, fast response speed and accurate measurement.

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