Mechanical dexterous gripper driven by linear ultrasonic motor

Abstract

A mechanical dexterous gripper driven by a linear ultrasonic motor comprises a motor installation channel, a front knuckle, a middle knuckle and a root knuckle. The mechanical dexterous gripper is characterized in that the root knuckle is connected with the motor installation channel through a hook hinge, the middle knuckle is in hinged connection with the root knuckle, and the front knuckle is inhinged connection with the middle knuckle; reset springs are installed between the root knuckle and the motor installation channel, the middle knuckle and the root knuckle as well as the front knuckle and the middle knuckle; the front knuckle, the middle knuckle and the root knuckle are all connected with driving wheels, and all driving wheels are connected with a driving motor installed on the motor installation channel through driving ropes or driving rods correspondingly so that bending deformation of all knuckles can be achieved; and a horizontal shaft of the hook hinge is connected witha two-force rod, the two-force rod is driven by a left-right swinging motor installed on the motor installation channel, and the whole mechanical gripper is driven to swing leftwards and rightwards. The mechanical dexterous gripper is large in driving force, compact in structure, small in size and flexible in finger motion.

Description

technical field [0001] The invention belongs to the field of robots, in particular to a mechanical finger technology, in particular to a mechanical dexterous hand driven by a linear ultrasonic motor. Background technique [0002] In recent decades, researchers and related companies have made huge investments in the research of robotic hands, which can not only be used for dangerous tasks, but also provide prosthetic limbs for the disabled. No matter what field it is used in, people hope that the manipulator can be compact and lightweight, can provide as much force or torque as possible, and can provide precise posture. Judging from these four points, almost no manipulator can meet this requirement today. The reason is mostly because of the lack of a small and powerful driving source. The traditional electromagnetic motor needs a decelerator to increase the torque on the basis of compactness, and the decelerator increases the volume. The artificial muscles that have emerge...

AI Technical Summary

Problems solved by technology

[0004] The purpose of the present invention is to design a mechanical dexterous hand driven by a linear ultrasonic motor with a large driving force, a compact structure and a small volume in view of the problems of the existing mechanical fingers with complex structures and large volumes.

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