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Multi-degree-of-freedom modular finger and modular reconfigurable multi-fingered dexterous hand

A modular, degree-of-freedom technology, applied in manipulators, manufacturing tools, chucks, etc., can solve the problems of non-adjustable working space, single configuration structure, less freedom of fingers, etc., to achieve strong adaptive grasping ability and flexibility Strong, reducing the effect of finger volume

Pending Publication Date: 2022-07-22
BEIJING UNIV OF POSTS & TELECOMM +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] In order to solve the above-mentioned problems of dexterous hands and fingers with less degrees of freedom, non-adjustable working space, and single configuration and structure in the above-mentioned prior art, an object of the present invention is to provide a multi-degree-of-freedom modular finger, which is an independently driven two-degree-of-freedom Finger, the end position is controllable and measurable; with gear adjustment function, easy to operate

Method used

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  • Multi-degree-of-freedom modular finger and modular reconfigurable multi-fingered dexterous hand
  • Multi-degree-of-freedom modular finger and modular reconfigurable multi-fingered dexterous hand
  • Multi-degree-of-freedom modular finger and modular reconfigurable multi-fingered dexterous hand

Examples

Experimental program
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Effect test

Embodiment 1

[0165] A multi-DOF modular finger such as figure 1 shown, each finger is of a modular design with the same structure. The finger is composed of a first joint unit, a second joint unit, a driving system and an end finger. Each finger includes two joint units, namely the first joint unit and the second joint unit, each joint unit is driven by a separate motor, the transmission mechanism adopts the link transmission, and each joint unit can be rotated under the action of the driving motor , which controls the 2DOF position of the end finger. The structure of fingers is figure 2 and Figure 4 As shown, each part of the parts is the single-finger finger shell 1, the main shaft 2, the first joint output rod 3, the second joint output rod 4, the first motor 5, the second motor 6, the first connecting rod 7, the second connecting rod Rod 8, third link 9, fourth link 10, fifth link 11, sixth link 12, first spring shaft 13, second spring shaft 14, two springs 15, two adapter rods 1...

Embodiment 2

[0174] More preferably, another multi-DOF modular finger such as Figure 9 As shown in the figure, firstly, in order to improve the force transmission performance, strength and rigidity of the modular fingers, the joints of the fingers are designed with a biaxial link, which can also increase the positioning accuracy of the modular fingers; Grasping envelope range, improve finger grasping ability, a connecting rod of the second joint (a straight rod in embodiment 1) is designed as a curved rod, which can significantly improve the grasping envelope range of the second finger joint. The finger consists of a first joint unit, a second joint unit, a drive system and an end finger. The structure of fingers is Figure 10 As shown, each part of the parts is the single-finger finger shell 1', the main shaft 2', the first joint output rod 3', the second joint output rod 4', the first motor 5', the second motor 6', the seventh joint rod 30, eighth link 31, ninth link 32, tenth link 33...

Embodiment 3-1

[0183] A three-fingered dexterous hand, such as Figure 13 As shown, it consists of a palm and three fingers distributed at 120°. The palm consists of a three-fingered hand side plate 56 and a three-fingered hand hexagonal cover plate 57. Each finger has two degrees of freedom, and the whole hand has a total of six degrees of freedom.

[0184] The three fingers are evenly distributed in the palm of the dexterous hand, and its structure is characterized in that it is composed of a three-fingered hand side plate 56 and a three-fingered hand hexagonal cover plate 57. The angular cover is installed above the 6 three-fingered hand side panels arranged in a regular hexagon, acting as the palm. When grasping, keep the palm still and rely on three fingers to grasp. Mounting holes are designed on the side plate of each three-finger hand, and mounting holes are also reserved on the shell of the single-finger finger, and each finger is fixed on the palm with a cross-recessed countersunk...

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Abstract

The modular finger comprises a first joint unit, a second joint unit, a motor and a tail end finger, each joint unit is driven by the corresponding independent motor, each joint unit rotates under the action of the corresponding driving motor and a transmission mechanism, and the tail end finger is driven by the corresponding motor to rotate. The two-degree-of-freedom position of the tail end finger is controlled; and a plurality of fingers are mounted on the corresponding three-finger palm and the five-finger palm in different combination modes to form a reconfigurable three-finger dexterous hand, a five-finger dexterous hand, a single-drive reconfigurable dexterous hand and a dual-drive reconfigurable dexterous hand. The design flexibility is high, the tail ends of the fingers are flexible through elastic output of the driving system, the grabbing range is adjustable, the manufacturing cost is low, the grabbing requirements under various complex tasks can be met, and the object grabbing capacity is greatly improved.

Description

technical field [0001] The invention relates to a multi-degree-of-freedom modular finger and a modular and reconfigurable multi-finger dexterous hand, in particular, a plurality of fingers are installed on the corresponding palm of a three-fingered hand and a palm of a five-fingered hand in different combinations to form a reconfigurable three-fingered hand. The dexterous hand and the five-fingered dexterous hand belong to the technical field of intelligent industrial robots. Background technique [0002] With the expansion of robots in service robots, industrial robots, and smart manufacturing, there is an increasing demand for dexterous manipulation of objects. The dexterous hand is the only way to break through the dexterous operation, and it is also the last centimeter of the robot's dexterous operation. It is an international frontier research hotspot and is of great significance in the fields of intelligent manufacturing, new retail, intelligent logistics and aerospace...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J15/00B25J15/02
CPCB25J15/0009B25J15/0213
Inventor 李海源李端玲张勤俭王鹏程王飞严鲁涛
Owner BEIJING UNIV OF POSTS & TELECOMM
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