53 results about "Underactuated robots" patented technology

The invention relates to a connecting-rod-type underactuated robot finger mechanism with all-rotational joints and aims to solve the problem that the conventional finger mechanism is small in grasping force and not easy to manufacture and maintain. The finger mechanism is characterized in that the upper part of a first connecting rod is hinged to a second connecting rod; the lower part of the first connecting rod is hinged to a third connecting rod driven by a motor and a speed reducer; the tail end of the third connecting rod is hinged to a fourth connecting rod; a spring is mounted between the third connecting rod and the fourth connecting rod; the tail end of the fourth connecting rod is hinged to a fifth connecting rod and a seventh connecting rod respectively; a spring is mounted between the fifth connecting rod and the seventh connecting rod; a sixth connecting rod which takes the shape of an non-isosceles triangle I with a big obtuse angle is hinged between the tail end of the fifth connecting rod and the tail end of the second connecting rod; the vertex angle of the non-isosceles triangle I is hinged to the tail end of the second connecting rod; the short-edge base angle of the non-isosceles triangle I is hinged to the tail end of the fifth connecting rod; the long-edge base angle of the non-isosceles triangle I is hinged to an eighth connecting rod which takes the shape of an non-isosceles triangle II with a small obtuse angle; the vertex angle of the non-isosceles triangle II is hinged to the long-edge base angle of the non-isosceles triangle I; the short-edge base angle of the non-isosceles triangle II is hinged to the tail end of the seventh connecting rod. The finger mechanism has the advantages that the grasping force is large; the adaptability is good; the drive and the control are simple; the manufacture and the maintenance are easy.

The invention discloses a pneumatic type underactuated robot finger device belonging to the technical field of humanoid robot hands. The pneumatic type underactuated robot finger device comprises a first finger section, a second finger section and an underactuated joint. The underactuated joint comprises an active sliding block, a joint shaft and two pneumatic flexible pieces; the active sliding block is embedded in the first finger section; the joint shaft is sleeved in the first finger section and the second finger section is sleeved and fixed on the joint shaft; the first pneumatic flexible piece is arranged between the first finger section and the active sliding block; the second pneumatic flexible piece is arranged between the first finger section and the second finger section; and the first pneumatic flexible piece and the second pneumatic flexible piece are communicated through a first finger section hole. The finger device adopts gas in a deformable closed space as a transmitting media, is combined with the pneumatic flexible pieces capable of axially stretching and bending, comprehensively realizes the inactive underactuated bending effect of fingers when grapping objects, has the function of automatically adapting to the size of the shape of the gripped objects as well as low manufacturing and maintenance cost, is similar to the fingers of human fingers and can be connected in series to form multi-joint fingers with high shape, self adaptability and high under actuation.

Belonging to the technical field of anthropomorphic robots, a multi-joint super underactuated robot finger device with belt wheels mainly comprises a base seat, a motor, a reducer, a first gear, a second gear, a near joint shaft, at least two middle finger sections, at least one middle joint shaft, a far joint shaft and a terminal finger section. The device also comprises at least two driving wheels, at least two transmission parts, at least two driven wheels and at least two spring parts, and both ends of each spring part are respectively connected with neighboring finger sections. The deviceutilizes multiple pairs of belt wheel mechanisms, multiple movably socketed middle finger sections and the decoupling function of multiple spring parts to comprehensively realize the special effect of that the multi-joint super underactuated fingers are bent to grasp an object; the structure is simple and reliable, the cost is low, and the fingers are similar to the fingers of a human hand; the device can be used as the fingers of a robot in order to realize that a robot hand can apply less actuators to drive more multi-joint degrees of freedom, and moreover, the device can be self-adapted tothe shape of the grasped object.

Belonging to the technical field of anthropomorphic robots, a transitional underactuated robot finger device with gears and belt wheels mainly comprises a base seat, a motor, a reducer, a first and asecond gears, a near joint shaft, a middle finger section, a far joint shaft and a terminal finger section. The device also comprises a driving gear, first and second transitional gears, a driving wheel, a transmission part, a driven wheel, a driven gear, a spring part and first and second transitional shafts. The device utilizes the designed belt wheel and gear transmission mechanism, the movablysocketed middle finger section and the decoupling function of the spring part to comprehensively realize the special effect that the double-joint underactuated finger is bent to grasp an object; thestructure is simple and reliable, the cost is low, and assembly and maintenance are convenient; similar to the human fingers, the device can be used on a robot hand with the long middle finger sections of fingers and particularly used as the thumb of the anthropomorphic robot hand; when the middle finger section is hindered while touching an object, the terminal finger section can continue to moveand grasp the object, and the device can be self-adapted to the shape and size of the grasped object.

The invention relates to a wrist device for a three degree of freedom (TDOF) underactuated robot. The device comprises a static platform, a movable platform, three branches and two drive power sources, wherein the static platform is hinged with the movable platform through the three branches, and two of the three branches are connected with the two drive power sources respectively; and under driving of the two drive power sources, the movable platform performs three degree of freedom motion through transmission of the three branches.