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Connecting-rod underactuation bionics finger capable of self-adaptively grabbing

An underactuated and self-adaptive technology, applied in the field of intelligent robots, can solve the problems of high cost of lubrication and sealing of differential gear trains, difficult processing, difficult assembly, etc., and achieves simple structure, small size of mechanism structure and stable grasping Effect

Inactive Publication Date: 2018-03-27
BEIJING INSTITUTE OF TECHNOLOGYGY
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0006] The disadvantages of this device are: the device has many parts, especially small parts, and the use of differential gear trains leads to difficult processing, high cost, and difficult assembly
At the same time, the differential gear train needs to be well lubricated and sealed, and the cost of use is high

Method used

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  • Connecting-rod underactuation bionics finger capable of self-adaptively grabbing

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Embodiment Construction

[0036] as attached figure 1 As shown, the bionic finger of the present invention includes a first knuckle 1, a small connecting rod 2, a crank connecting rod 3, a trigger plate 4, a spring 5, a second knuckle 6, a first connecting shaft 7, a second connecting shaft 8, The third connecting shaft 9 , the fourth connecting shaft 10 , and the spring guide post 11 .

[0037] The bionic finger includes a first transmission chain and a second transmission chain. The first transmission chain includes a trigger plate 4 and a compression spring 5 connected together by adhesion, and the other end of the compression spring 5 is connected to the second phalanx 6 by adhesion. Together, the return movement of the trigger plate 4 is realized. The second transmission chain includes that the first knuckle 1 and the second knuckle 6 are hinged together by a rivet, and at the same time are hinged together with the small connecting rod 2 by a rivet, and the small connecting rod 2 and the crank co...

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Abstract

The invention provides a connecting-rod underactuation bionics finger capable of self-adaptively grabbing. The connecting-rod underactuation bionics finger comprises a first finger section, a second finger section, a small connecting rod and a crank connecting rod and further comprises a triggering actuating component, the triggering actuating component comprises a first plane, a first actuating portion and a second actuating portion, the first plane makes contact with an object to be grabbed, the first actuating portion is connected with the second finger section through an elastic mechanism,so that the triggering actuating component is made to be capable of performing reciprocating movements relative to the second finger section, and the second actuating portion is operably connected with the crank connecting rod, so that a crank connecting-rod mechanism is made to be driven by the triggering actuating component to perform pivot rotating movements relative to the second finger section. The connecting-rod underactuation bionics finger capable of self-adaptively grabbing is simple in a transmission scheme, smooth and steady in grabbing and high in precision, the structural volumeof the mechanism is small, and the connecting-rod underactuation bionics finger capable of self-adaptively grabbing is suitable for the design of the bionics finger of a humanoid robot.

Description

technical field [0001] The invention relates to a bionic finger, in particular to a connecting rod underactuated bionic finger capable of self-adaptive grasping, and belongs to the technical field of intelligent robots. Background technique [0002] In the study of intelligent robots, scientists regard humanoid robots as the highest state in the field of robotics research, and have always regarded the realization of humanoid behavior as a dream goal. Human beings realize multiple functions through hand manipulation. Similarly, the dexterous hand of a humanoid robot becomes an important part of the multifunctionality of the robot, and its design is one of the key technologies of the humanoid robot. [0003] In recent years, human research on dexterous hands has achieved fruitful results. At present, most dexterous hands have 3 to 5 fingers, and each finger has 2 to 4 degrees of freedom. Most of the joints are active joints driven by motors, air muscles, and hydraulic pressur...

Claims

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Application Information

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IPC IPC(8): B25J15/00
CPCB25J15/0009
Inventor 余张国马晓帅孙宁
Owner BEIJING INSTITUTE OF TECHNOLOGYGY
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