Coupling under-actuated integrated three-joint robot finger device

Abstract

The invention provides a coupling under-actuated integrated three-joint robot finger device, which belongs to the technical field of robot hands. The device comprises a base, one motor, three finger segments, four joint shafts, one motor, eight connecting rods, four spring pieces and the like. The invention utilizes the connecting rods and the spring pieces to form a coupling transmission mechanism and an under-actuated transmission mechanism which are integrated and are in sleeved connection with the three finger segments so as to comprehensively realize the special effect of integrating a three-joint finger coupling-grabbing process with an under-actuated self-adaptive grabbing process. The finger device adopts a coupling mode for rotation before touching objects, can grab the objects in a pinching way, can adopt an under-actuated self-adaptive mode to rotationally grab the objects after touching the objects, and automatically adapts to the size and shape of the grabbed objects so as to realize grabbing in a holding way. The finger device has the advantages of great force, low requirement on control systems, simple reliable structure, low cost, suitability for long-term use, similarity to the appearance and motion of fingers of human hands and applicability to anthropomorphic robot hands.

Description

technical field [0001] The invention belongs to the technical field of robot hands, and in particular relates to a structural design of a coupled underactuated integrated three-joint robot finger device. Background technique [0002] As an important part of the robot, the robot hand device has become the focus and focus of research in the field of robotics in recent years. But in the current research, there are some technical difficulties. For example, in order to realize the multi-degree-of-freedom dexterous hand, more motors are needed to provide power. However, the increase in the number of motors will not only lead to a complex control system, but also make the whole finger device mechanism huge, destroying its anthropomorphic nature. Under-actuation technology is one of the solutions that can better solve this contradiction at present. By utilizing an underactuated mechanism, more joint degrees of freedom can be driven by fewer motors, thereby reducing the requiremen...

AI Technical Summary

Problems solved by technology

[0005] However, this type of underactuated adaptive mechanical finger device also has certain shortcomings: the finger always rotates in a straight state before touching the object, which not only has a large difference from the human hand action, lacks anthropomorphism, and when the first finger After one segment touches the object, before the second segment rotates to contact the object, the object may be pushed away by the action of the first segment and leave the grasping range of the finger; the finger can only grasp the object in a gripping manner, But can not achieve a good end pinch; when the end of the finger touches the object, the natural bending of each joint cannot be realized, so it is difficult to pull the object into the hand and grasp it firmly; it cannot do the action similar to the empty hand "fist" of a human hand, etc.

However, the coupled grasping and underactuated adaptive grasping of this device are separated. Only the upper part of the finger is used to realize the coupled grasping, and the lower part of the finger is used to realize the underactuated adaptive grasping. Simple synthesis, and does not really integrate the two grabbing methods

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