Continuum Variable Stiffness Adjustable Mechanical Finger

Abstract

The invention relates to the technical field of continuum, in particular to a continuum variable stiffness adjusting mechanical finger. The continuum variable stiffness adjustment mechanical finger includes a variable stiffness adjustment device and a mechanical finger. The variable stiffness adjustment device includes a worm gear mechanism, a driving mechanism, a finger mounting seat and two driving ropes. The mechanical finger includes a finger body, and the finger body is an elastic body. One end of the finger body is installed on the finger mounting seat, and the axial direction of the finger body is provided with a threading hole for the driving rope to pass through. On the side wall of the finger body, a plurality of deformation grooves are opened along the radial direction of the finger body. The axis direction distribution of the finger body. The continuum variable stiffness adjustment mechanical finger provided by the present invention can effectively improve the ability of the mechanical finger to resist external forces, realize the adjustment of the stiffness of the mechanical finger, further improve the flexibility of the mechanical finger, and improve the performance of the mechanical finger.

Description

technical field [0001] The invention relates to the technical field of continuum, in particular to a continuum variable stiffness adjusting mechanical finger. Background technique [0002] At present, the traditional continuum mechanical fingers usually use hinged joints as the joints of the fingers. The continuum mechanical fingers with this structure are not only complex in structure, but also require multiple drivers for drive control, which is inconvenient to operate. In addition, the flexibility of the fingers is relatively low. Poor, the shape of the finger cannot change according to the shape of the object. Contents of the invention [0003] The present invention aims to solve at least one of the technical problems existing in the prior art. [0004] For this reason, the present invention proposes a continuum variable stiffness adjusting mechanical finger, which can improve the flexibility of the mechanical finger, so that the mechanical finger can change according...

AI Technical Summary

Problems solved by technology

[0002] At present, the traditional continuum mechanical fingers usually use hinged joints as the joints of the fingers. The continuum mechanical fingers with this structure are not only complex in structure, but also require multiple drivers for drive control, which is inconvenient to operate. In addition, the flexibility of the fingers is relatively low. Poor, the shape of the finger cannot change according to the shape of the object

Images