The invention discloses a finger device of a composite underactuated double-joint
robot with a differential-motion
bevel gear system, belonging to the technical field of
humanoid robot hands. The finger device comprises a base, a motor, a speed
reducer, a base shaft, a near joint shaft, a
middle finger section, a far joint shaft, a
tail-end finger section, a double-linked
bevel gear and a spring piece. In the device, a single motor, a differential-motion
bevel gear transmission mechanism and the spring piece are adopted to comprehensively realize the effect of composite underactuated capture, namely the fingers capture an object in a
coupling rotating mode firstly ad then capture the object in a self-adaption manner; the capture process is humanized, the action is nimble, the object can be captured stably, the objects with different size and shapes can be captured in an automatically adaptive manner; the finger device has low requirements to a
control system and is controlled easily; furthermore, the finger device has a simple and compact structure, little
energy loss,
high transmission efficiency and low cost, can be controlled accurately, is convenient to assemble and maintain, has similar appearance as the hands of a
human body and is suitable for the
humanoid robot hands.