80 results about "Robot finger" patented technology

The invention provides a wheel driving robot finger device, belonging to a robot technical field which comprises a base, a motor, a reducer, a first gear, a second gear, a close joint shaft, a middle part finger, a far joint shaft and a terminal finger section as well as a driver, a transmission part, a driven wheel, a spring part. The middle part finger is sleeved on the close joint shaft. Two terminals of the spring part are respectively connected with the middle and the terminal finger sections. The device uses a pair of wheel mechanisms to sleeve a plurality of active middle part fingers with the decoupling effect of the spring part comprehensively to realize the special effect that the double joints drive the finger to bend so as to catch the objects. With simple structure, reliability, low cost, convenient installation and maintenance, small volume and light weight, the wheel driving robot finger device similar to human fingers is especially suitable for being used as a thumb of the hand of the humanoid robot or a part of other fingers that uses fewer drivers to drive more rotation joints to automatically adjust to catch the objects of different shapes and sizes.

The invention relates to a smart under-actuated bionic robot finger device with parallel-connected tendon ropes, which belongs to the technical field of anthropomorphic robots. A diarticular finger device comprises a pedestal, a first motor, a second motor, a juxta-articular shaft, a first finger segment, a distal-articular shaft, an tail end finger segment and a return spring. The device also comprises a first rope wheel, a second rope wheel, a third rope wheel, a first tendon rope, a second tendon rope and a third tendon rope. A polyarticular finger device also comprises at least one middle finger segment and at least one middle rope wheel. The device comprehensively realizes the special effect of combining finger original configuration variability and self-adaptive grasp by utilizing the motors, the rope wheels, the tendon ropes and the return spring. The device can flexibly bend the middle joints of fingers before grasp to achieve a stable and anthropomorphic prebent gesture and grasps an object in a self-adaptive under-actuated mode when in grasp. The grasping action of the device more approaches to a human hand, and the device can self-adaptively and stably grasp different objects and is applicable to an anthropomorphic robot hand.

The invention provides a bevel gear flexible piece compound grabbing robot fingers device belonging to the technical field of a humanoid robot arm. The device comprises a base, a motor, a speed reducing device, a proximal joint shaft, a middle finger segment, a distal joint shaft, a tail end finger segment, three bevel gears, a driving wheel, a driven wheel, two driving pieces and a spring piece. The device comprehensively realizes a compound under-drive grabbing effect by the motor, the bevel gears, a crossed flexible piece driving mechanism, the spring piece and the like: fingers are firstly coupled and rotated to claw an object so as to adaptively grab the object; the device is humanoid in grabbing process, flexible in moving, stable in object grabbing, automatic in and adaptive to grab materials with different sizes and shapes, low in the requirement on a control system, and easy to operate; and the device is simple and compact in structure, less in energy loss, high in driving efficiency, low in cost, convenient to assemble and maintain, and similar to the shape of the human fingers, thereby being suitable for the humanoid robot arm.

The invention provides a grabbing-locking self-adaptive robot finger device, and belongs to the technical field of robot hands. The device comprises a base, a motor, a first transmission mechanism, a near-joint shaft, a middle finger section, a driving pulley, a synchronous belt, a driven pulley, a far-joint shaft, a tail end finger section and a first spring piece. The device further comprises a second transmission mechanism, a pawl, a pawl shaft, a ratchet, a second spring piece, a third spring piece and a fourth spring piece. The device can be installed on a mechanical arm, matched with the active movement of the mechanical arm to conduct object grabbing in a reaction surface-evacuated mode, and has the self-adaptive capacity for the shape and size of the grabbed object. Shape-enclosure and force-enclosure stable grabbing is achieved in the object grabbing, and the lost stability phenomenon that joint reset is caused by vibration interference in the grabbing process is avoided. The device is simple in structure, small in size, less in quality and low in production cost and maintenance cost, and the fingers are similar to fingers of the human.

The invention discloses a connecting rod type under-actuated finger mechanism, belongs to the technical field of anthropomorphic robots, and in particular relates to design of a robot finger mechanism. The connecting rod type under-actuated finger mechanism is characterized in that eight connecting rod under-actuated finger mechanisms comprising one moving pair and seven rotating pairs are adopted, so the fingers have large gripping force and simple structure, can be designed and manufactured fully according to the sizes of the human fingers, realize the control of a simple controller for controlling a driver to drive a plurality of finger joints, and can flexibly and adaptively grip objects with different sizes and shapes.

A duplex bevel gear under-actuated robot finger device pertains to the technical field of personification robot, which comprises a base, a motor, a reducer, a first gear, a drive bevel gear, a near articular shaft, a middle finger section, a far articular shaft and an end finger section. The device also comprises a duplex bevel gear, a driven bevel gear and a spring part; the middle finger section is sheathed on the near articular shaft; the two ends of the spring part are respectively connected with the middle finger section and the end finger section. The device utilizes a group of duplex bevel gear mechanisms, the middle finger section in the sleeve joint activity and the decoupling effect of the spring part to comprehensively achieve the special effect that the biarticular bone under-actuated finger can bend to grasp objects. The robot finger device of the invention has the advantages of simple and reliable structure, low cost, convenient installation and maintenance, being similar to human fingers and small volume, which is especially and suitably taken as the thumb or a part of other fingers of the personification robot hands, has fewer drivers to drive more rotating joints and can grasp the objects with different shapes and sizes by autoadaptation.

The invention discloses a three-axis gear and rack composite underactuated dual-joint robot finger device, which belongs to the technical field of humanoid robot hands. The finger device comprises a base, a motor, a speed reducer, a base shaft, a juxta articular shaft, a middle finger section, a distal articular shaft, a tail end finger section, a multi-path gear driving mechanism and a spring. According to the device disclosed by the invention, the composite underactuated grabbing effect is comprehensively achieved by adopting a single motor, the multi-axis and multi-path gear driving mechanisms with different driving ratios, the spring and the like: fingers are coupled and rotatably grab an object and then self-adaptively grab the object; the finger device is humanized in the grabbing process, has skilful action, stability for grabbing the object, low requirement for a control system and easiness in operation and control and can be used for automatically and adaptively grabbing objects with different sizes and shapes; meanwhile, the finger device has the advantages of simple and compact structure, low energy loss, high driving efficiency, low cost, convenience in assembly and maintenance; and the finger device is similar to fingers of a person in appearance and is suitable for the humanoid robot hands.

The invention belongs to the technical field of robot hands and discloses a pinching-holding composite and adaptive robot finger device with seven connecting rods connected in parallel. The robot finger device comprises a driver, a base, two finger sections, four rods, six shafts, spring parts and limiting blocks. A proximal joint shaft and a first drive shaft are arranged in the base in a sleeved mode. A first rotating shaft is arranged on the first parallel rod in a sleeving mode. A second rotating shaft is arranged in the first finger section in a sleeved mode. A distal joint shaft and a second drive shaft are arranged in the second finger section in a sleeved mode. The first finger section and the first parallel rod are connected to the proximal joint shaft in a sleeving mode. The two ends of the driven rod are connected to the first rotating shaft and the distal joint shaft respectively in a sleeved mode. The two ends of the second parallel rod are connected to the distal joint shaft and the second rotating shaft respectively in a sleeved mode. The two ends of the drive rod are connected to a first drive shaft and a second drive shaft respectively in a sleeved mode. The robot finger device can grab articles in a pinching-holding composite and adaptive mode; the second finger section can pinch the articles in parallel or hold the articles adaptively; the distal joint shaft can be moved horizontally, so that the grabbing range is wide and the dead movement zone is small; the size is small, the appearance simulates the human, the structure is simple and reliable, and a sensing and controlling system is not needed.

The invention discloses a double joint and equidirectional drive hybrid under-actuated robot finger device, which belongs to the technical field of robot hands. The device comprises a base, a motor, a decelerator, a base shaft, a proximal joint shaft, a middle finger segment, a distal joint shaft, a tail finger segment, a plurality of gears, an equidirectional drive mechanism and a spring part. By adopting the motor, the gear drive with different drive ratios at different paths, the equidirectional drive mechanism, the spring part and the like, the device comprehensively achieves the hybrid under-actuated grasping effect that fingers are coupled to grasp objects first and then self-adaptive to the different objects; each finger segment has a great grasping force, so objects are grasped more stably; and fingers are controlled by a few motors and have a plurality of flexible segments, so operation and control are easier. The device has a simple and reliable structure, small energy loss and high drive efficiency, and is low in cost, convenient to assemble and maintain and similar. Besides, the shape of the device is similar to human hand, so the device is suitable to be used as the finger part of a humanoid robot.

The invention discloses an idle-stroke contact gear parallel clamping self-adaption robot finger device, and belongs to the technical field of robot hands. The device comprises a base, two finger sections, two joint shafts, a drive, a gear transmission mechanism, a convex block poking disc, a poking wheel, two spring pieces and a limiting convex block. The device uses the drive, the gear transmission mechanism, two spring pieces, the convex block poking disc, the limiting convex block, the poking wheel and the like for comprehensively realizing the functions of finger parallel clamping and self-adaption grabbing of a double-joint robot; as a section of idle stroke is between a transmission convex block on the poking wheel and a second convex block on the convex block poking disc, when the first finger section rotates, the second finger section keeps flat moving without rotating corresponding to the base to achieve the function of parallel clamping and grabbing; after a contacted object of the first finger section is stopped, the transmission convex block on the poking wheel can touch and poke the second convex block on the convex block poking disc to drive the first gear to rotate after a shorter period of time; and the second finger section is driven to rotate by transmission of the gear set and the second gear to achieve the self-adaption grabbing function.

The invention discloses a self-adaptation robot finger device achieving flexible piece gear parallel clamping, and belongs to the technical field of robot hands. The self-adaptation robot finger device comprises a base, two finger sections, two joint shafts, a driver, a flexible transmission piece, a transmission wheel, a gear, a protruding block drive plate, two spring pieces, two limiting protruding blocks and the like. According to the device, the function of parallel clamping and the function of universal grabbing are comprehensively achieved, according to different shapes and positions of target objects, the second finger section can be moved to hold the objects in parallel, and the first finger section and the second finger section can be sequentially rotated to wrap the objects different in shape and size. The device is wide in grabbing range. An under-actuated manner is adopted, one driver is utilized for driving two joints, and a complex sensing and control system is not needed. The device is compact in structure, small in size, low in manufacturing and maintaining cost and suitable for the robot hands.

The invention relates to a sliding groove toggle connecting rod straight-line parallel clamping self-adaptive robot finger device, and belongs to the field of robot hands. The device comprises a base, two finger segments, a driver, multiple connecting rods, a spring, two sliding blocks and the like. The device achieves the robot finger straight-line parallel clamping and self-adaptive grabbing functions; the second finger segment can be subjected to straight-line translation to clamp an object, the second finger can rotate automatically to make contact with the object after the first finger segment makes contact with the object, and the purpose of adaptively wrapping objects with different shapes and sizes is achieved; the grabbing range is wide, and grabbing is stable and reliable; one driver is utilized to drive the two finger segments. The device is simple in structure, small in size, light in weight and low in processing, assembling and maintaining cost.

The invention provides a linear parallel clamping and self-adaption robot finger device with the terminal accurately compensated and belongs to the technical field of robot hands. The linear parallelclamping and self-adaption robot finger device comprises a base, two finger segments, two joint shafts, a motor, a plurality of connecting rods, an intermediate transmission mechanism, a T-shaped sliding groove part, gears, racks, a limiting block, a spring part and the like. According to the linear parallel clamping and self-adaption robot finger device with the terminal accurately compensated, the linear parallel clamping and self-adaption grabbing functions of robot fingers are achieved; when a near joint rotates, a second finger segment surface cover parallelly moves along a straight linerelative to the base; after the first finger segment makes contact with an object, the second finger segment surface cover is then rotated to make contact with the object; the purpose of enveloping objects in different shapes and sizes in a self-adaption mode is achieved; the grabbing scope is large, and grabbing is stable and reliable; the two joints are driven by one motor; and the linear parallel clamping and self-adaption robot finger device with the terminal accurately compensated is simple in structure, low in cost and suitable for robot hands.

The invention discloses a multi-sensor feedback adaptive robot finger device and a control method thereof, and belongs to the technical field of robot hands. The device comprises two finger sections, a joint shaft, a motor, three sensors, a control module and a motor driving module. The device is a robot finger device for comprehensively implementing parameter adjustment and program control by using multiple sensors for feeding back signals, the motor driving module, the control module and an adaptive grabbing control algorithm; the device can realize adaptive grabbing of objects of differentshape and size, is easier to trigger the adaptive grabbing action, and is stable in grabbing, controllable in grabbing force and short in transmission chain; when the device is used for grabbing different objects, reprogramming is not needed; and the device is simple and convenient to use, meets requirement for grabbing of multiple objects, and can realize a robot hand with high flexibility and degree of freedom, high adaptability, low control difficulty and high reliability.

The invention relates to a tactile sensor for a robot. The main part of the sensor comprises a sensor shell, a rubber contact, a fixing device, a transmission rod, a testing coil, FeGa materials, a spring, a left permanent magnet, a right permanent magnet and a magnetizer, wherein the rubber contact is semispherical and is fixed on the right side of the upper surface of the sensor shell; the upper end of the transmission rod is embedded in the rubber contact; the lower end of the transmission rod vertically goes through the fixing device and the sensor shell to be connected with the FeGa materials. The left end of the FeGa materials is fixed on the inner wall of the left end of the sensor shell. The upper surface of the right end of the FeGa materials is connected to the upper end of the spring. The testing coil sleeves the middle portion of the FeGa materials. A magnetizer is laid on the internal bottom of the sensor shell. The left end and the right end of the magnetizer are respectively fixed with a left permanent magnet and a right permanent magnet. Pole heads of the two permanent magnets are disposed in a staggered mode. The tactile sensor of the invention can satisfy the requirement of the precision of tactile measurement by robot fingers.

Belonging to the technical field of anthropomorphic robots, an underactuated robot finger device with crossed tendons comprises a base seat, a motor, a reducer, a first gear, a second gear, a near joint shaft, a middle finger section, a far joint shaft and a terminal finger section. The device also comprises a driving gear, a transitional gear, a driving rope pulley, a transitional shaft, a first tendon, a second tendon, a driven rope pulley and a spring part. The device utilizes the gear and tendon transmission mechanism, the movably socketed middle finger section and the decoupling function of the spring part to comprehensively realize the special effect that the double-joint underactuated fingers are bent to grasp an object. Similar to a human finger, the device has the advantages of simple and reliable structure, low cost, convenient assembly and maintenance, small volume and light weight. The device is particularly used as the thumb or one part of other fingers of an anthropomorphic robot hand, so that the anthropomorphic robot hand can use less actuators to drive more rotating joints, and can be self-adapted to the shape and size of the grasped object.

The invention discloses a robot finger device driven directly by electromagnetism, which belongs to the technical field of anthropomorphic robots. The finger device comprises a single-joint finger device and a multi-joint finger device. The single-joint finger device comprises a first finger section, a second finger section and an electromagnetically driven joint body arranged in the first finger section, wherein the electromagnetically driven joint body comprises a joint shaft, a pinion-rack meshing mechanism, a coil, a spacing sleeve, an iron core and a spring piece. The device comprehensively realizes a special joint body driven directly by electromagnetism by using the coil, the magnetic finger sections, the pinion-rack meshing mechanism and the spring piece. The device drives fingers to bend by using induced magnetic force, has short transmission chain, small movement gap, achieves stable grab, realizes finger bending and large grabbing force with smaller volume, is compact and reliable in structure, low in cost, similar to human fingers in appearance and dimension, suitable to be used as a hand for the anthropomorphic robots and can realize the high-degree-of-freedom and high-flexibility hands of the anthropomorphic robots.

A robot finger device capable of switching between an accurate flat clamping self-adoption mode and a coupling self-adaption mode and belongs to the technical field of robot fingers. The robot finger device comprises a base, two finger sections, two joint shafts, a motor, a tendon rope, a driven pulley, a connection piece, a rotary shaft, a fan-shaped wheel, a spherical segment piece, a gear, a rack, a spring and the like. According to the robot finger device, various grabbing modes such as flat clamping grabbing, coupling grabbing and self-adoption grabbing of the robot finger are achieved; by utilizing the ball surface of the spherical segment piece, stable switching between flat clamping and coupling is achieved; by installing the spherical segment piece, transmission precision between a flat clamping stage and a coupling stage is improved; the mechanism is simplified by utilizing the indirect self-adaption function of a gear rack mechanism; contradiction between the flat clamping or coupling state and the self-adaption state is avoided through cooperation of the tension degrees of the spring and the tendon rope; the grabbing range is large; two joints are driven through one single motor, and a complex sensing and controlling system is not needed; and the structure is simple, the size is small, and the cost is low.

The invention discloses a single-ring flexible piece parallel clamping self-adaption robot finger device, and belongs to the technical field of robot hands. The device comprises a base, a first finger section, a second finger section, a near joint shaft, a far joint shaft, a drive, a first transmission wheel, a second transmission wheel, a flexible transmission piece, a convex block poking disc, a poking wheel, a transmission mechanism, a first spring piece, a second spring piece and a limiting convex block. The device uses the drive, the flexible piece transmission mechanism, two spring pieces, the convex block poking disc, the poking wheel, the limiting convex block and the like for realizing the finger functions of parallel clamping and self-adaption grabbing; the second finger section can flatly move to hold an object or outwards expand to support the object, or the first finger section and the second finger section can rotate in sequence to self-adaptively wrap objects with different shapes and sizes; and the device is wide in grabbing range and stable and reliable in grabbing, only uses one drive for driving two joints, needs no complex sensing and control systems, and is simple in structure, small in size, light in weight, low in machining, assembly and maintenance costs and suitable for the robot hands.

The invention discloses a disc-tooth switching multi-mode integration self-adaptive robot finger device, and belongs to the technical field of robot hands. The robot finger device comprises a base, two finger sections, two joint shafts, two motors, two driving pressure plates, two driven pressure plates, a sliding pressing block, multiple sets of transmission mechanisms, limiting blocks, spring pieces and the like. According to the robot finger device, multi-grabbing mode integrating coupling self-adaption, horizontal clamp self-adaption and a locking enhancing function finger are realized; according to the different shapes, sizes and positions of objects to be grabbed, and the device is provided with three basic grabbing modes of coupling grabbing, horizontal clamping grabbing and self-adaptive grabbing and three combined grabbing modes of coupling self-adaptive grabbing, horizontal clamp self-adaptive grabbing and locking enhancing grabbing; the grabbing modes can be freely and electrically switched; during switching, no idle running state exists so that the posture of fingers in the switching process can be kept; and the device is high in grabbing efficiency, wide in range, compact in structure, easy to control and suitable for various robots needing to grab objectsc.

The invention discloses a rack cosine extension linear flat clamping self-adaption finger device, and belongs to the technical field of robot hands. The device comprises a base, two finger sections, two joint shafts, a driver, multiple connecting rods, a transmission mechanism, a spring piece and the like. The device realizes the functions of robot finger linear parallel clamping and self-adaptiongrabbing. The device can keep the gesture of a second finger section to linearly and flatly move the second finger section to clamp objects according to different shapes and positions of the objects;after a first finger section is contacted with the objects, the second finger section is automatically rotated to contact with the objects to achieve the purpose of self-adaption enveloping of the objects with different shapes and sizes; the grabbing range is wide; the grabbing is stable and reliable; one driver is used for driving two finger sections; and the device is simple in structure, low in manufacturing, assembly and maintenance cost and suitable for robot hands.

The invention relates to a gear rack tail end approximate straight-line composite grabbing robot finger device and belongs to the technical field of robot hands. The gear rack tail end approximate straight-line composite grabbing robot finger device comprises a base, two finger sections, two joint shafts, a motor, a plurality of connecting rods, a gear, two racks, two springs, two limiting convexblocks and the like. The device realizes a straight-line flat clamping and self-adaptive composite grabbing mode, can flatly move the second finger section to clamp an object, and also can rotate thefirst finger section to touch the object and then rotate the second finger section to envelope the objects with different shapes and sizes; in the stage of flatly moving the second finger section to clamp the object, the tail end of the second finger section still maintains approximate straight-line track motion, so the gear rack tail end approximate straight-line composite grabbing robot finger device is suitable for grabbing flat plate objects on a workbench and reduces the mechanical arm programming requirements; and only one motor is used for driving two joints, so the gear rack tail end approximate straight-line composite grabbing robot finger device is simple and compact in structure and low in cost, does not need a complex sensing and control system, and is suitable for occasions that the robot needs to grab and operate the objects with different sizes.

The invention discloses a coupling self-adaptive robot finger device characterized in that the tail end moves along a straight line, and belongs to the technical field of robot hands. The coupling self-adaptive robot finger device comprises a base, a pedestal, a first finger section, a second finger section, a near joint shaft, a far joint shaft, a motor, three transmission mechanisms, two springparts, a cam, a push rod, a rolling wheel, a stroke increasing mechanism and a poking block. The coupling self-adaptive robot finger device can achieve coupling movement, achieves the effect of pinching an object, can also achieve self-adaptive movement, and achieves the effect of covering and holding objects with different shapes and different sizes. In the stage of coupling movement, the tail end of the second finger section moves along the straight line relative to the pedestal, the coupling self-adaptive robot finger device is suitable for pinching the object on a workbench in a coupling mode, the whole height of a robot hand does not need to be adjusted, the control difficulty of a mechanical arm is reduced, and the working efficiency is improved. The coupling self-adaptive robot finger device adopts an under-actuated move, two joints are driven by one driving device, and no complex sensing and control system is required. The coupling self-adaptive robot finger device is compact in structure, small in size and low in cost, and is suitable for the robot hand.

The invention belongs to the sensor technical field, in particular to a bendable organic small molecular touch sensor array and a preparation method thereof. The sensitive material of the sensor array is made of organic conjugated small molecular semiconductor material and the structure of the sensor array, from bottom to top, are sequentially a bendable substrate, a second electrode, an organic material layer, a first electrode and a rubber substrate; wherein, the electrode bars of the first electrode and the second electrode are crossly and vertically arranged in longitudinal and transverse direction and form the sensing array with the organic material layer. The preparation of the sensor array can adopt a vacuum vapor plating method or an ink-jet printing method. The pressure sensor array is characterized by high sensitiveness, small volume, light weight, low cost, being bendable, etc., can be used for pressure sensing and tough sensing of medical or household robot fingers and the pressure sensor array related to the industrial automation control.

The invention discloses a multi-link double-spring rectilinear flat clamping and adaptive robot finger device, and belongs to the technical field of robot hands. The device comprises a base, two finger sections, a joint shaft, a motor, multiple links, a lug driving plate, two springs and the like. The device realizes the functions of rectilinear parallel clamping and adaptive grabbing of a robot finger; the single motor drives the two finger sections to achieve an under-actuation effect; according to the difference of shapes and positions of objects, a rectilinear flat clamping mode and an adaptive mode can be automatically switched; the device can rectilinearly translate the second finger section to clamp an object, and thus is applicable to well clamping a thin-plate part on a workbench; after the first finger section makes contact with an object, the device can also automatically rotate the second finger section to make contact with the object to achieve a holding effect with greater output, so the device can automatically adapt to grabbing of objects in different shapes and sizes; and the device is large in grabbing range, stable and reliable.

The invention discloses a gear-connecting bar driving parallel-clamping self-adaptive robot finger device and belongs to the technical field of robot hands. The gear-connecting bar driving parallel-clamping self-adaptive robot finger device comprises a base, two finger sections, two joint shafts, a driver, a plurality of gears, a plurality of connecting bars, a protruding block driving plate, a spring part, a limiting protruding block and the like. The device adopts the driver, a gear driving mechanism, a connecting bar driving mechanism, the spring part, the protruding block driving plate, the limiting protruding block and the like, the functions of parallel clamping and self-adaptive grabbing are achieved comprehensively; according to different target object shapes and positions, translational motion of the second finger section can be performed to nip objects or outward expansion of the second finger section is performed to support the objects; the first finger section and the second finger section can also be rotated in sequence to wrap the objects with different shapes and sizes; the device is wide in grabbing range; an underactuation mode is adopted, the driver is used for driving two joints, and a complicated sensing and control system is not needed; and the device is compact in structure, small in size, low in manufacturing and maintaining cost and applicable to the robot hands.

The invention discloses a robot movement locus obtaining system based on a neural network. The system comprises multiple robots and an algorithmic controller and is characterized in that a drive motor, a mechanical arm, robot fingers and a camera are arranged on each robot, the robot fingers are arranged on the mechanical arms, the cameras are arranged on the side portions of the robot fingers, the output ends of the drive motors are connected with the input ends of the mechanical arms and the input ends of the robot fingers, the input end of the algorithmic controller is connected with the output ends of the cameras, and the output end of the algorithmic controller is connected with the input ends of the drive motors, the input ends of the mechanical arms, and the input ends of the robotfingers. Through construction of an optimal model based on the improvement bird flock algorithm, robot movement simulation of manual movement locus optimal path and control data obtaining are achieved.

The invention discloses a four-rod four-wheel linear parallel clamping and self-adaption robot finger device, and belongs to the technical field of robot hands. The device comprises a base, two finger segments, a joint shaft, a motor, a plurality of connecting rods, a plurality of transmission wheels, two transmission parts, a driving moving wheel, a driven moving wheel, a limiting block, two spring parts and the like; through the device, functions of robot finger linear parallel clamping and self-adaptation grabbing can be achieved, the single motor is used for driving the two finger segments, and the underactuation effect is met; according to differences of object shapes and positions, automatic switching between the linear parallel clamping and self-adaptation modes can be achieved; according to the device, the second finger segment can be linearly moved in a parallel manner to clamp objects, good clamping of sheet parts on a worktable can be achieved, after the first finger segment makes contact with the object, the second finger segment can be automatically rotated to make contact with the object, and the holding effect with the large force can be obtained; the device can be automatically suitable for grabbing of the objects in the different shapes and with different sizes, the grabbing range is large, and stability and reliability are achieved.