An Underactuated Adaptive Humanoid Manipulator

Abstract

The invention provides an under-actuated self-adaptive anthropomorphic manipulator. The under-actuated self-adaptive anthropomorphic manipulator comprises a shell module, a four-finger module, a thumb module, a transmission module and a self-locking module, wherein the four-finger module, the thumb module, the transmission module and the self-locking module are arranged in the shell module. The four-finger module comprises an index finger, a middle finger, a ring finger and a little finger. The tail end of each finger is connected with the transmission module through a flat key. The thumb module is directly connected with the palm. The transmission module and the self-locking module are both arranged in the palm. The transmission module comprises a sliding block set, gear and rack mechanisms and a connecting rod mechanism, wherein the sliding block set slides backwards under the effect of the pulling force of a pulling rope, the gear and rack mechanisms on the two sides are driven to move in an engaged mode, racks drive the connecting rod mechanism to rotate, and then driving force is transmitted to the finger module to complete the grabbing motion. A pawl mechanism in the self-locking module is engaged with ratchets on a ratchet plate after grabbing, so that the grabbing state is maintained. According to the under-actuated self-adaptive anthropomorphic manipulator, self-adaptive wrapping and grabbing of objects with certain sizes can be achieved, and the application range is wide.

Description

Technical field: [0001] The invention belongs to the technical field of robots, and in particular relates to an underactuated self-adaptive anthropomorphic manipulator. Background technique: [0002] With the development of robot technology, manipulators are gradually being used in various fields of production and life. In the field of automobile manufacturing, manipulators have been widely used in processes such as welding and spraying; in the military field, manipulators are used to replace humans in dangerous tasks such as bomb disposal and mine clearance. On the other hand, in today's society, the number of physical disabilities caused by traffic accidents, natural disasters and other reasons is increasing year by year, and manipulators have also begun to set foot in the field of assisting the disabled. In the field of assisting the disabled, one of the research focuses of manipulators is how to make their appearance more anthropomorphic, more convenient and efficient t...

AI Technical Summary

Problems solved by technology

But it has the following deficiencies: (1) the mechanical finger rotates around a central axis to achieve the grabbing function, and when grabbing irregular objects, it is prone to unstable grasping; (2) the shape of the manipulator The design is relatively rough and the degree of anthropomorphism is not high, which limits its application

But it also has the following deficiencies: (1) the manipulator uses a closed-loop feedback system composed of force sensors and angle sensors to complete the grasping action, which objectively increases the difficulty of system control; (2) the manipulator has only three fingers and does not fully Simulates the shape of a real finger

But its shortcoming is that the entire manipulator has no mechanical self-locking function, and after grabbing objects, it can only rely on increasing the power of the motor to maintain the original state

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