Three-rack slider coupling adaptive underactuated robot finger device

Abstract

The invention discloses a three-rack slider coupling adaptive underactuated robot finger device, and belongs to the technical field of anthropomorphic robot hands. The device comprises a base, a near joint shaft, a first finger segment, a far joint shaft, a second finger segment, a motor, a three-gear and rack transmission mechanism and a spring. The device achieve the transmission effect combining coupling rotation and underactuated rotation, can couple anthropomorphic grasp, and has the underactuated adaptive function. The whole finger has the advantages of concise structure and low manufacturing and processing cost; and the coupling rotation and the underactuated rotation are organically fused, natural decoupling is realized by utilizing a block moving contact mode, and the power of the motor is not consumed during the decoupling. The device has the advantages of compact structure, stable and accurate transmission, low manufacturing and maintaining cost and similar appearance to a human finger, can be used as one finger or a part of the finger of a robot hand, also can be combined with a plurality of the fingers into the robot hand so as to achieve the good effect of high degree of freedom of joints and high adaptivity of the anthropomorphic robot hand.

Description

technical field [0001] The invention belongs to the technical field of anthropomorphic robot hands, and in particular relates to a structural design of a three-rack slider coupling self-adaptive underactuated robot finger device. Background technique [0002] As an indispensable part of the robot, the robot hand has many joint freedoms, small size, very dexterous, complex control and other characteristics and difficulties compared with other parts of the robot. The robot hand is mainly used for grasping objects, moving in space, and making gestures and other hand movements. Although the existing dexterous hands are flexible in control, they have a large number of motors, a very complex structure, considerable difficulty in control, and very high manufacturing and maintenance costs. These factors hinder the widespread application of dexterous hand-shaped robotic hands in real life. Although the coupled grasping robot hand and the underactuated grasping robot hand developed r...

AI Technical Summary

Problems solved by technology

The disadvantages of this device are: the device adopts two sets of transmission mechanisms to achieve coupling and under-actuated grasping respectively, which makes the structure of the whole finger complex and the cost of manufacturing and processing is high; the coupling transmission mechanism and the under-actuation transmission mechanism of the device affect each other, Three spring parts are used for decoupling, but the power of the motor is consumed internally; the two sets of transmission mechanisms of the device are arranged in parallel, and multiple spring parts are installed on the joint shaft, resulting in too thick fingers; the two sets of the device The transmission mechanisms all use flexible transmission parts, which are easy to loose and cause gaps, and the transmission is not precise enough. To achieve good results, a pre-tensioning device is required, which further increases the cost and difficulty of manufacturing, installation and maintenance

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