Fluid-driven multidimensional adaptive robotic hand device

Abstract

The invention belongs to the technical field of robot hands and discloses a fluid drive type multi-dimensional self-adaptive robot hand device. The fluid drive type multi-dimensional self-adaptive robot hand device comprises a base, a membrane, a piston, a driver, a transmission mechanism, a membrane drawing part and a spring part. The fluid drive type multi-dimensional self-adaptive robot hand device realizes the multi-dimensional self-adaptive and active-passive hybrid grabbing functions through the comprehensive effect of the driver, the transmission mechanism, fluid, the membrane, the piston, the membrane drawing part and the spring part, can automatically and adaptively grab objects of different shapes and sizes, can adapt to articles in multiple directions and obtain the multi-dimensional self-adaptive effect and is high in grabbing stability. In addition, the device can deform for grabbing the objects in a passive mode or an active mode, can adaptively grab the objects with reaction surfaces or not, and is large in grabbing range, simple in structure and easy to control.

Description

technical field [0001] The invention belongs to the technical field of robotic hands, in particular to a structural design of a fluid-driven multi-dimensional self-adaptive robotic hand device. Background technique [0002] The robot hand is an important terminal for robot operation. The robot uses its claws to grab objects or manipulate (such as move, turn) objects. The robot hand can be manufactured by imitating the action principle of the human hand. This kind of robot hand imitating the human hand has been developed, generally has multiple fingers, and each finger has multiple joints. This kind of hand is also called anthropomorphic robot hand or multi-fingered robot hand. [0003] The multi-fingered robot hand is divided into two categories: dexterous hand and under-actuated hand. The two types are not independent of each other. The former refers to the multi-fingered hand with more than 3 fingers and more than 9 degrees of freedom, and the latter refers to the The nu...

AI Technical Summary

Problems solved by technology

The disadvantages of this gripper are: 1) it is necessary to rely on the reaction force given to the object by the external environment to achieve the deformation of the membrane, and it is impossible to pick up an object without a reaction surface (such as an apple hanging in the air), and this gripper is difficult crawl

3) The method of air extraction requires a relatively high-power air source, which has high noise, high energy consumption, and a large volume of the entire system. It takes a period of time for the air to be extracted, and the grasping is completed only when almost all the air is exhausted. Crawl is not fast

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