Transition under-driven robot finger device

Abstract

Belonging to the technical field of anthropomorphic robots, a transitional underactuated robot finger device with gears and belt wheels mainly comprises a base seat, a motor, a reducer, a first and asecond gears, a near joint shaft, a middle finger section, a far joint shaft and a terminal finger section. The device also comprises a driving gear, first and second transitional gears, a driving wheel, a transmission part, a driven wheel, a driven gear, a spring part and first and second transitional shafts. The device utilizes the designed belt wheel and gear transmission mechanism, the movablysocketed middle finger section and the decoupling function of the spring part to comprehensively realize the special effect that the double-joint underactuated finger is bent to grasp an object; thestructure is simple and reliable, the cost is low, and assembly and maintenance are convenient; similar to the human fingers, the device can be used on a robot hand with the long middle finger sections of fingers and particularly used as the thumb of the anthropomorphic robot hand; when the middle finger section is hindered while touching an object, the terminal finger section can continue to moveand grasp the object, and the device 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, in particular to a structural design of a transitional underactuated 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 finger underactuated ...

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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