Double-joint three-axis wheeled compound underactuated robot finger device

Abstract

The invention discloses a double-joint and three-shaft-wheeled hybrid under-actuated robotic finger device and belongs to the technical field of humanoid robotic hands. The device comprises a base, a motor, a speed reducer, a base shaft, a near joint shaft, a middle finger section, a far joint shaft, a multi-path transmission mechanism and a spring member. By using the device disclosed by the invention, a hybrid under-actuated grasping effect can be comprehensively achieved through using the single motor, the multi-shaft and multi-path transmission mechanism with a dissimilar transmission ratio, the spring member, and the like; and the effect is as follows: fingers grasp objects by way of coupled rotation firstly and then adaptively grasp the objects; the grasping process is impersonated,the grasping action is flexible, and the object grasping is stable, meanwhile, the device can automatically adaptively grasp objects in different sizes and shapes, has a low demand on a control system, and can be operated and controlled easily; simultaneously, the device is simple and compact in structure, small in energy consumption, high in transmission efficiency, low in cost and convenient toassemble and maintain; and the appearance of the device is similar to that of fingers of people, therefore, the device disclosed by the invention is suitable for humanoid robotic hands.

Description

technical field [0001] The invention belongs to the technical field of humanoid robot hands, and in particular relates to the structural design of a double-joint underactuated robot finger device. Background technique [0002] The hand is a very important organ for humans. In the field of humanoid robots, it is of great significance to enhance the function of the robot hand. On the one hand, by increasing the number of joints and the number of drives, the movement of the manipulator can be made more diverse and precise, but at the same time, this will make the mechanism complex and cumbersome; The accuracy of the movement is negatively affected. At the same time, the robot hand is required to be compact and flexible with sufficient grasping force. There are still many technical problems in this field. [0003] An underactuated mechanism is one in which the number of actuators is less than the number of joint degrees of freedom. Many humanoid dexterous hands can also be c...

AI Technical Summary

Problems solved by technology

[0007] 2) The grasping method of the under-actuated hand is mainly the gripping method, and it is difficult to achieve a better grasping effect of the terminal pinch; it cannot achieve the fisting action similar to a human hand when there is no object grasping; it is also difficult to achieve terminal finger pinching When holding an object, the joints are in a natural bending state

[0008] 3) When the under-actuated hand grasps an object, the first finger segment needs to exert sufficient force on the object to trigger the second joint to pull the spring to deform and bend, which will lead to an unstable grasping phenomenon in which the grasping force squeezes the object away. Even if the object is grasped, it may cause the first finger segment to grasp the object too much and damage the object

The disadvantage of coupled fingers is that there is no adaptability to different objects when grasping objects

[0015] The device can realize compound under-actuated grasping, but the disadvantage is that the mechanism is complex and difficult to install and maintain; the number of spring parts is too large, and the contradiction between the coupling transmission mechanism and the self-adaptive transmission mechanism is often adjusted by using the spring part decoupling, which often makes multiple spring parts High deformation, resulting in excessive and unnecessary energy loss

Images