Flexible rope-driven coupling-free imitated human finger

Abstract

The invention discloses a flexible rope-driven coupling-free imitated human finger. The flexible rope-driven coupling-free imitated human finger mainly comprises a far knuckle, a middle knuckle, a near knuckle, a palm and finger fixing device, a micro bearing G, a far finger shaft, a far finger winding wheel, a first rotating angle sensor, a first limiting double-roller group, a middle finger shaft, a middle finger winding wheel, a second rotating angle sensor, a second limiting double-roller group, a near finger winding wheel, a near finger shaft and the like. According to the flexible rope-driven coupling-free imitated human finger, the complexity of a control algorithm is greatly reduced through optimization of the structure; the burden of a control system is reduced; the control precision is improved; each knuckle can be controlled independently; meanwhile, the technical schemes that the finger is unbent mostly by adopting elastic resetting elements nowadays are avoided; elastically stretching operation of the finger can be realized freely; the finger can perform more actions and is more flexible; the output force is great, the control is flexible, and the flexibility is good;the bending angles of the knuckles are designed in a manner of imitating human fingers; the internal structure layout is reasonable; a flexible rope and a sensor electric wire can penetrate through the interior easily without barriers; and the structure design is very compact.

Description

technical field [0001] The invention belongs to the technical field of robots and relates to a humanoid finger. Background technique [0002] With the improvement of automation level, the application field of robots is expanding, especially in high-risk environments. It is hoped that the end effector of robots can be as flexible as human hands, and can replace human hands in dangerous, complex and unstructured environments. Complete tasks such as adaptive grasping of objects of any shape and various complex subtle operations. However, the output force of the fingertips of most dexterous hands is generally not large, and the load capacity of the whole hand is not strong. Today's robot finger driving force mainly includes micro motor drive, connecting rod drive, spring return and cable drive, flexible cable drive and so on. The flexible cable drive has the advantages of making the output force of the finger larger, increasing the load force, and being flexible and convenient...

AI Technical Summary

Problems solved by technology

However, today's flexible cable-driven finger structure may adopt an underactuated design such as CN 104161608A, but its chain drive produces a large amount of coupling, and the fingertips cannot move independently and flexibly; another example is the elastic reset structure adopted by CN103565562A. Lack of flexibility, it is impossible to complete more flexible fine operations that require tacit cooperation, such as surgery, precision machining and assembly, etc., and only rely on the elasticity of the elastic elements to straighten the fingers, and cannot make fingers "stretch" and "bounce" well. and other operations, the application limitations are large

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