Variable torque converter for under-actuated dexterous hand

Abstract

The invention discloses a variable torque converter for an under-actuated dexterous hand. The variable torque converter comprises a first worm gear, an inner worm shaft, a second worm gear, an outer worm shaft and a first gear, wherein the inner worm shaft is meshed with the first worm gear which is connected with an inner knuckle of the dexterous hand, the outer worm shaft is meshed with the second worm gear which drives an outer knuckle of the dexterous hand, and the first gear is connected with an output shaft of a driving motor. A third gear is fixed onto the outer worm shaft and meshed with the first gear, a second gear capable of axially moving along the inner worm shaft is in threaded connection with the inner worm shaft and meshed with the first gear, a Belleville spring which enables the second gear to be fixed or rotate relative to the inner worm shaft is arranged on the inner worm shaft, and a retainer ring is arranged between the Belleville spring and the second gear. The variable torque converter is simple and convenient to mount, reliable in connection, capable of effectively realizing control of torque transmission and especially applicable to logic control of knuckle rotation of the under-actuated dexterous hand.

Description

technical field [0001] The invention relates to a variable torque converter for an underactuated dexterous hand, which is used for logic control of the knuckle rotation of the underactuated dexterous hand. Background technique [0002] Robotic dexterous hands, as the output terminal of humanoid robots, have been valued by more and more robotics researchers. Similar to humans, most functions of humanoid robots are realized through hand operations, so the hand structure is an important part of humanoid robots , and its design is one of the key technologies of anthropomorphic robots. In order to increase the anthropomorphism of the hand, it is necessary to design more joint degrees of freedom. However, in order to reduce the control difficulty of the anthropomorphic robot hand and reduce the volume and weight of the hand, it is necessary to reduce the number of drives. There is a certain contradiction between the two. In addition, in order to better grasp the object, the finge...

AI Technical Summary

Problems solved by technology

[0004] The disadvantages of this device are: because this kind of frictional decoupling will cause material loss, the decoupling effect will decrease after long-term use, resulting in unreliable grasping performance; once the parts are manufactured, the magnitude of the torque used to grasp the object cannot be changed. not adjustable

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