A three-finger dexterous end effector in the palm of a three-motor-driven tandem mechanism

Abstract

The invention relates to the technical field of robots and automation, in particular to a three-finger dexterous end effector driven by a three-motor series mechanism palm, wherein the motor worm gear reducer drives the drive shaft of the screw head to rotate, and the driving gear and the screw head on the drive shaft of the screw head The tapered hole gears on the driven shaft are meshed with the same speed and opposite direction. The outer ends of the threaded head drive shaft and the threaded head driven shaft are respectively vertically fixed with a slotted rod, and the other end of each slotted rod is respectively installed with a motor planet. Wheel reducer, the output shaft of the motor planetary gear reducer, the drive shaft of the threaded head, and the driven shaft of the threaded head are parallel to each other, and the long finger seat is fixed on the bottom plate, and installed on two slotted two rods or two slotted one rods respectively The short finger seat, the long finger seat, and the two short finger seats are all equipped with right-angle plate fingers. This application is easy to determine the final grasping pose and the path planning of the obstacle avoidance movement of the finger grasping process. It is suitable for grasping different shapes and sizes objects.

Description

technical field [0001] The invention relates to the technical field of robots and automation, in particular to a three-finger dexterous end effector with three motors driving a series mechanism palm. Background technique [0002] Grasping manipulators, also known as end effectors and end grippers, are operating tools for robots to grab objects. Due to the complexity of grasping objects, except for some humanoid dexterous manipulators with high cost and complex devices, the rest of the end effectors cannot universally and reliably grasp different types of objects. As far as the contact state is concerned, in order to adapt to the different shapes of grasped objects such as cuboids, cylinders, and spheres, the root of the finger needs to be transposed so that the finger contact surface can better adapt to grasped objects of different shapes. It is the basic function of the palm. [0003] For the grasping objects such as agricultural products and food, due to the size change ...

AI Technical Summary

Problems solved by technology

[0005] The defects of the manipulator are: ① rely on a single finger to locate and grab objects, the references do not coincide, the offset between the origin of the coordinates of the manipulator and the center of mass of large and small objects is large, and the eccentric moment of the manipulator is large; ② rely on a single finger to position and grab objects, Due to the positioning accuracy of the mechanical arm, the grasped object moves a little during the grasping process; ③ two moving fingers instead of three fingers move to the grasped object at the same time, and the efficiency of the clamping process is low; ④ double drive five-bar slider parallel mechanism drive The displacement of the second finger, because the angle of displacement at the position determined by the x and y coordinates is determined, the finger with a flat cross section is used for the surface contact of the grasped object, or the cross section is used for the plane contact of the grasped object. It is a finger with a curved surface, and the versatility of vertically grabbing cylinders and cuboids is not good enough; ⑤ especially the crank-rocker-slider parallel mechanism can form a positive crank-rocker mechanism (the angular displacement direction of the crank and rocker is the same) and a reverse crank The rocker mechanism (the angular displacement direction of the crank and the rocker is opposite), it will experience a dead point state during the transition (in this state, the connecting rod and the rocker are in a straight line), and the rocker hinge seat (that is, the slider) is driven by the screw motor drive, but it is more difficult to avoid the dead point by the coordinated control of the screw motor and the crank motor

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