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Chiasma tendon rope three-joint under-driven robot finger device

A robot finger, underactuated technology, applied in the field of anthropomorphic robots, can solve the problems of unreliable grasping performance, decreased decoupling effect, and affect the appearance, and achieve the effects of reliable performance, simple structure, and easy installation and maintenance.

Inactive Publication Date: 2008-07-09
TSINGHUA UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

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

Method used

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  • Chiasma tendon rope three-joint under-driven robot finger device
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  • Chiasma tendon rope three-joint under-driven robot finger device

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Embodiment Construction

[0040] The content of the specific structure and working principle of the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments.

[0041]An embodiment of a cross tendon rope three-joint underactuated robot finger device designed by the present invention is shown in Fig. 1, Fig. 2, Fig. 3, Fig. 4, Fig. 5, Fig. 6, Fig. 7 and Fig. 8, including a base 1. Motor 2, reducer 17, first gear 18, second gear 19, proximal joint shaft 3, first middle finger segment 4, second middle finger segment 6, middle joint shaft 5, distal joint shaft 7, end finger Section 8; said motor 2 and speed reducer 17 are affixed to base 1, the output shaft of motor 2 is connected to the input shaft of speed reducer 17, and the output shaft of speed reducer 17 is affixed to said first gear 18, The first gear 18 meshes with the second gear 19, the second gear 19 is fixedly connected with the said proximal joint shaft 3, the proximal joint shaft...

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Abstract

Belonging to the technical field of anthropomorphic robots, a tri-joint underactuated robot finger device with crossed tendons comprises a base seat, a motor, a near joint shaft, a first middle finger section, a second middle finger section, a middle joint shaft, a far joint shaft and a terminal finger section. The device utilizes the designed crossed tendon and gear 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 fingers are bent to grasp an object. Similar to a human finger, the device can be used on a robot hand with the long middle finger sections of fingers and particularly used as the index finger, middle finger, ring finger and little finger of the anthropomorphic robot hand, so that anthropomorphic robot hand can use less actuators to drive more rotating joints. When the middle finger sections are hindered while touching an object, the terminal finger sections can continue to move and grasp the object, and the device can be self-adapted to the shape and size of the grasped object. The device has the advantages of simple structure, low cost, convenient assembly and maintenance, reliable performance and long service life.

Description

technical field [0001] The invention belongs to the technical field of anthropomorphic robots, and in particular relates to the structural design of a three-joint underactuated robot finger device with cross tendon ropes. 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 ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J15/00B25J19/00F16H37/00
Inventor 张文增
Owner TSINGHUA UNIV
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