Soft piece coupling type handyman finger device

Abstract

A soft piece coupling type handyman finger device belongs to the technical field of anthropomorphic robot hands, and comprises a base, a middle finger section, a tail end finger section, a joint close shaft, a joint far-away shaft, a soft piece transmission mechanism, two sets of motors and a reducer. The soft piece coupling type handyman finger device achieves four two-degree-of-freedom capture modes: (1) a double-joint coupling rotating capture mode; (2) a double-joint independent rotating capture mode; (3) a mode of double-joint independent rotating capture after double-joint coupling rotation; and (4) a mode of double-joint coupling rotating capture after double-joint independent rotation. The soft piece coupling type handyman finger device can not only achieve the coupling effect that a single motor drives a plurality of joints to simultaneously rotate achieved by a traditional coupling finger, but also have the decoupling capture effect which does not exist in the traditional coupling finger, achieves by independently rotating a single joint and is easy to control when capturing an object. All motors and reducer are hidden in the base, and the finger rotation portion is small in volume and light in weight.

Description

technical field [0001] The invention belongs to the technical field of anthropomorphic robot hands, and in particular relates to the structural design of a dexterous robot finger device coupled with flexible parts. Background technique [0002] With the rapid development of science and technology, people are more and more eager to be freed from single and repeated mechanical labor, and the demand for using robots or partially using robots in traditional labor-intensive production work is also increasing. In the field of anthropomorphic robot research, an important research direction is grasping objects, which is a hot research topic at present. There are more than 20 degrees of freedom in the human hand. If all of them are controlled by motor drive, not only is the cost expensive, but the real-time control requirements are very high. Even grasping a simple object requires complex sensing and control. In order to reduce the difficulty of control, one method is to reduce the ...

AI Technical Summary

Problems solved by technology

There are more than 20 degrees of freedom in the human hand. If all of them are controlled by motor drive, not only the cost is expensive, but also the real-time control requirements are very high. Even grasping a simple object requires complex sensing and control.

In order to reduce the difficulty of control, one method is to reduce the number of motors working at the same time, so that the real-time performance of grasping objects can be guaranteed more easily, but at the same time it brings a problem: how to drive more joints with fewer motors (ie Underactuated grasping), and the anthropomorphic effect of the action process is good, and the grasping object is still stable and reliable

The disadvantage of this device is: in the process of grasping the object, the rotation of the near-joint axis and the far-joint axis is simultaneous. Also can't turn any further, so the grip is not good

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