Three-joint under-driven robot little finger device

Abstract

Belonging to the technical field of anthropomorphic robots, a tri-joint underactuated robot little finger device comprises a base seat, a motor, a near joint shaft, first and second middle finger sections, a middle joint shaft, a far joint shaft and a terminal finger section. The device also comprises a driven gear, first and second driving gears, a near transitional gear, a driving wheel, a transmission part, a driven wheel, a far transitional gear, first and second spring parts, a first near transitional shaft, a first far transitional shaft and a second transitional shaft. The device utilizes the designed gear and belt wheel transmission mechanism, two movably socketed middle finger sections and the decoupling function of two spring parts to comprehensively realize the special effect of that the tri-joint underactuated finger is bent to grasp an object. Similar to the human fingers, the device can be used on a robot hand with the long first middle finger sections and short second middle finger sections of fingers and particularly used as the little finger of the 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.

Description

technical field [0001] The invention belongs to the technical field of anthropomorphic robots, and in particular relates to the structural design of a multi-joint high-under-actuation robot 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. The robot anthropomorphic f...

AI Technical Summary

Problems solved by technology

[0004] The disadvantages of this device are: due to the loss of materials due to this frictional decoupling, the decoupling effect will decrease after long-term use, resulting in unreliable grasping performance; due to the use of multi-stage gear transmission, when used in the middle finger segment, it will be far away if it is slightly longer. When the joint axis is slightly far from the near joint axis, the diameter of the gear will be too large, causing the finger to be too thick and affecting the appearance, so this device is difficult to apply to a robot finger with a long middle segment

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