Flexible part crank block type parallel coupling underactuated robot finger device

A technology of robot fingers and flexible parts, applied in the field of humanoid robot hands, can solve the problems of high manufacturing and processing costs, increased cost and difficulty, internal consumption of motor power, etc., and achieve the effects of low manufacturing and processing costs, high adaptability, and easy installation

Inactive Publication Date: 2010-09-15
WUXI RES INST OF APPLIED TECH TSINGHUA UNIV +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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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 aff

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  • Flexible part crank block type parallel coupling underactuated robot finger device
  • Flexible part crank block type parallel coupling underactuated robot finger device
  • Flexible part crank block type parallel coupling underactuated robot finger device

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Embodiment Construction

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

[0041] An embodiment of a flexible part crank slider type parallel coupling underactuated robot finger device designed by the present invention, the cross-sectional view is as follows figure 1 , 2 As shown, it looks like Figure 5 , 6 As shown, the action principle is as follows Figure 7 , 8 , 9, 10, 11, 12, 13, 14, 15, 16, 17, 18. This embodiment comprises a base 1, a proximal joint shaft 3, a first finger segment 4, a distal joint shaft 5, a second finger segment 6 and a motor 2, the motor 2 is arranged in the base 1, and the output shaft of the motor 2 Connected with the proximal joint shaft 3; the proximal joint shaft 3 is sleeved in the base 1, the distal joint shaft 5 is sleeved in the first finger segment 4, and the second finger segment 6 It is sleeved on the dista...

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Abstract

The invention discloses a flexible part crank block type parallel coupling 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 connecting rod, a drive plate, a motor, a flexible part and a spring. The device can achieve the transmission effect combining coupling rotation and underactuated rotation, can realize anthropomorphic grasp through coupling, and also has the underactuated adaptive function. The whole finger has the advantages of concise structure, low manufacturing and processing cost, natural decoupling by utilizing block moving contact mode, no need of power consumption of the motor and high energy utilization rate. A crank block mechanism of the second finger segment can realize large-angle rotation of the second finger segment by moving very short distance of an active block. The device is similar to a human finger in appearance, 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, in particular to a structural design of a flexible part crank slider type parallel coupling underactuated robot finger device. Background technique [0002] The robot hand is an indispensable part of the robot. Compared with other parts of the robot, the robot hand has many joint freedoms, small size, very dexterous, complex control and other characteristics and difficulties. 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 popularization and application of dexterous hand-type robot hands in real life. Although the coupled grasping robot hand and the underactuated grasping robot...

Claims

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Application Information

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IPC IPC(8): B25J15/08B25J17/00
CPCB25J15/0009
Inventor 张文增刘洪冰陈强都东孙振国
Owner WUXI RES INST OF APPLIED TECH TSINGHUA UNIV
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