CN101664930B - Coupling underactuated integral finger device of double-joint robot - Google Patents
Coupling underactuated integral finger device of double-joint robot Download PDFInfo
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- CN101664930B CN101664930B CN 200910092926 CN200910092926A CN101664930B CN 101664930 B CN101664930 B CN 101664930B CN 200910092926 CN200910092926 CN 200910092926 CN 200910092926 A CN200910092926 A CN 200910092926A CN 101664930 B CN101664930 B CN 101664930B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0009—Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
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Abstract
The invention relates to a coupling underactuated integral finger device of a double-joint robot, which belongs to the technical field of robot hands. The device comprises a base, a motor I, two finger sections, two joint axles, a motor II, four connecting rods, two spring parts, and the like. The connecting rods and the spring parts form a coupling transmission mechanism and an underactuated transmission mechanism which are in an integral structure, the two finger sections are sleeved, the special effect that the double-joint finger coupled grasping process and the underactuated selfadaptive grasping process are fused into a whole is comprehensively realized, and the finger device rotates in a coupled mode before being in contact with an object, achieves the purpose of grasping the object in a pinching manner, also rotates in an underactuated selfadaptive way to grasp the object after being in contact with the object, is automatically suitable for the size and the shape of the grasped object and achieves the purpose of grasping in a holding manner. The finger device has high output, low requirement on the control system, simple and reliable structure and low cost, is suitable for long-term use, is similar to the finger appearance and the action of the human finger and is used on a humanoid robot hand.
Description
Technical field
The invention belongs to the robot technical field, particularly a kind of structural design of coupling under-actuated integrated doublejointed robot finger apparatus.
Background technology
Robot hand device becomes the hot topic and the emphasis of Robotics area research in recent years as the pith of robot.But in present research, there are some technological difficulties.As in order to realize the multiple degrees of freedom Dextrous Hand, need more motor that power is provided.But the increase of number of motors not only can cause the control system complexity, can make that more whole finger apparatus mechanism is huge, destroys its personification.Owe actuation techniques and be one better to solve one of scheme of this contradiction.By utilizing the lack of driven structure, can be by the more joint freedom degrees of less motor-driven, thus reduced requirement to control system.Especially, a class adopts the robot finger apparatus of under-driven adaptive mechanism to arise at the historic moment.With the doublejointed robot finger is the working method of example explanation under-driven adaptive finger apparatus: the whole finger of motor-driven (comprising that first refers to that section and second refers to section) is similar to a rigid body and is straight configuration and rotates around nearly joint shaft, restricted can't moving after the first finger section is touched object, second refer to that the section joint shaft of going the long way round rotates this moment under the effect of motor, realized that two refer to that section successively rotates in order.Such finger apparatus has the special-effect of automatic adaptation object size, and it is wide to adapt to the extracting object range, and what help grasping is stable.
A kind of activation lacking mechanical finger device such as U.S. patent of invention US5762390A, this device belongs to the under-driven adaptive device, owing to adopt many cover quadric chains that the transmission of power of drive source is arrived a plurality of joints, has the stability of adaptivity and extracting.
Another kind of under-actuated two-articulated robot finger device (Chinese invention patent CN101234489A), comprise pedestal, motor, the middle part section of finger, the end section of finger and flat tyre wheel formula transmission mechanism etc., realize the crooked special-effect that grasps object of doublejointed under-actuated finger equally, had adaptivity.
But, such under-driven adaptive mechanical finger device with functions also has certain deficiency: finger is straight configuration all the time and rotates before not touching object, so not only have than big-difference with the staff action, lack personification, and behind the first finger section contact object, refer to that second section turns to before object contact, object might be open under first effect that refers to section, leaves the extracting scope of finger; Finger can only grasp object in the gripping mode, and can not realize that end grips preferably; When finger tips is touched object, can not realize the natural torsion in each joint, thereby difficult object is allocated in the hand held; Can not accomplish the action of empty-handedly clenching fist of similar staff etc.
The another kind of technology of extensively using the robot field is a coupling technique.By adopting coupling mechanism, when robot finger apparatus rotates, can realize referring to the multiarticulate rotation simultaneously of section, the natural torsion of finger when the similar staff of course of action grips more.Be the working method of example explanation manifold type finger apparatus still: when the motor-driven finger rotates with the doublejointed robot finger, not only point first and refer to that section is around nearly joint shaft rotation, the second finger section is gone the long way round joint shaft with respect to the first finger section rotation in the first finger section motion, the angle that both rotate has a fixing proportionate relationship, this proportionate relationship is by the design decision of concrete coupling mechanism, and remaining constantly, this is coupling extracting pattern.Multiarticulate finger still can be driven by less drive source, so the manifold type robot finger has inherited and has owed the drive-type finger and have less drive source, the control characteristic of simple, and some shortcomings of under-driven adaptive finger apparatus have been overcome, its grasping movement has good personification, can realize that gripping mode grasps, the robot that adopts the manifold type finger apparatus can also avoid under-driven adaptive to point the shortcoming that object might be pushed open simultaneously to make the action of clenching fist.
Existing a kind of manifold type two-articulated robot finger device (Chinese invention patent CN101100064A) comprises that mainly pedestal, motor, first refer to that section, second refers to section and figure of eight steel wire rope and pulley-type transmission mechanism.This device adopts motor, figure of eight steel wire rope and a pulley-type transmission mechanism to realize pointing the coupled motions of 1: 1 angle in the same way in two joints.
Existing a kind of manifold type articulated robot finger apparatus (Japanese patent of invention JP2004-130405A) comprises that pedestal, first refers to that section, second refers to that section, the 3rd refers to section, motor, first gear drive, the first belt wheel transmission mechanism, second gear drive and the second belt wheel transmission mechanism etc.This device adopts gear and belt wheel transmission mechanism to realize the effect of being rotated by motor-driven a plurality of joints coupling.
But the manifold type finger apparatus does not have the self-adapting grasping function of under-driven adaptive finger because each joint rotational angle ratio remains unchanged.When rotate with the fixed angle ratio in each joint, can't grasp in the gripping mode of lucky adaptation body surface size dimension, do not possess the automatic adaptability to object, it is bad to grasp effect, grasps unstable.
By above-mentioned situation as can be known, under-driven adaptive formula finger and each tool quality of manifold type finger mechanism if both combinations can be learnt from other's strong points to offset one's weaknesses, will become the trend of future robot finger development.At present existing a kind of robot finger apparatus has the effect of coupling and under-driven adaptive, but for the tandem coupling adds under-driven adaptive finger (Chinese invention patent CN101190528A), this device belongs to three joints finger, its middle finger joint and finger tip adopt the coupled drive mode, realized the coupled motions of diarticular 1: 1 angle, nearly dactylus and middle finger joint employing under-driven adaptive mode realize the self-adapting grasping to object.But the coupling extracting of this device and under-driven adaptive grasp and separate, only realize the coupling extracting with finger the first half, realizing that with finger the latter half under-driven adaptive grasps, is the simple synthetic of two kinds of extractings in fact, two kinds of Grasp Modes is not really merged.
In sum, successively implement extracting in the mode of coupling and under-driven adaptive successively if can adopt the coupling mechanism that is integrated and under-driven adaptive mechanism to be implemented in the same extracting process, with real advantage in conjunction with two kinds of Grasp Modes, realize having complementary advantages, can obtain practical robot finger apparatus powerful, that the extracting scope is wide, grasp stability is good, become the outstanding person in the various robot finger apparatus.
Summary of the invention
The objective of the invention is weak point at prior art, a kind of coupling under-actuated integrated doublejointed robot finger apparatus is proposed, realize that two joints finger coupling extracting process and under-driven adaptive extracting process are blended in one, while is simple in structure, cost is low, requires low to control system.
The present invention adopts following technical scheme:
A kind of coupling under-actuated integrated doublejointed robot finger apparatus comprises that pedestal, first refers to that section, second refers to section, nearly joint shaft, joint shaft far away, decelerator and motor; Said motor and pedestal are affixed, and the output shaft of motor links to each other with said input shaft of speed reducer, and the output shaft of decelerator links to each other with said nearly joint shaft, and nearly joint shaft is set in the pedestal, and said joint shaft far away is set in said first and refers in the section; First refers to that section is socketed on the nearly joint shaft, and said second refers to that section is socketed on the joint shaft far away; The axis of said nearly joint shaft and joint shaft far away is parallel to each other;
It is characterized in that:
This coupling under-actuated integrated doublejointed robot finger apparatus also comprises first connecting rod, first, second connecting rod, second, third connecting rod, the 3rd, the 4th connecting rod, the first spring spare and the second spring spare;
One end of said first connecting rod is fixed on the nearly joint shaft, the other end of first connecting rod by said first hinged with said second connecting rod one end, the other end of second connecting rod refers to that with second section is hinged by said second; One end of said third connecting rod is socketed on the nearly joint shaft, and the other end of third connecting rod is hinged by said the 3rd end with said the 4th connecting rod, and the other end of the 4th connecting rod is socketed on second; The two ends of the said first spring spare connect first connecting rod and first respectively and refer to section, and the two ends of the said second spring spare connect third connecting rod and pedestal respectively; The axis of said first, second, the 3rd and nearly joint shaft is parallel to each other.
The said nearly joint shaft of the present invention, joint shaft far away, first, second and the 3rd meet following relation: the axis of establishing nearly joint shaft is the P plane with the plane, axis place of joint shaft far away, and first axis is the M plane with the plane, axis place of joint shaft far away; Then first axis and the 3rd axis is in the both sides on P plane, and second axis and the 3rd axis is in the both sides on M plane.
The said first spring spare of the present invention and the second spring spare adopt torsion spring, extension spring, stage clip, sheet spring or leaf spring.
The elastic force restriction of the said second spring spare of the present invention is better than the elastic force restriction of the first spring spare.
Be provided with transmission mechanism between said decelerator of the present invention and the nearly joint shaft, the output shaft of decelerator links to each other with nearly joint shaft by said transmission mechanism.
The said motor of the present invention is provided with encoder.
The present invention has the following advantages and the high-lighting effect:
The present invention utilizes a plurality of connecting rods and spring spare to constitute coupled transmission mechanism in parallel and owes drive transmission device, two of sockets refer to section, realized that comprehensively two joints finger coupling extracting process and under-driven adaptive extracting process are blended in the special-effect of one, this finger apparatus adopts coupled modes to rotate before touching object, altitude measurement personalizes, help envelope simultaneously to object, and can realize that gripping mode grasps object, after touching object, can adopt the under-driven adaptive mode to rotate the extracting object again, automatically the size and the shape that adapt to the object of grabbing realize that the gripping mode grasps, and grasp stable.This finger apparatus is exerted oneself greatly, to control system require low, simple and reliable for structure, volume is little, cost is low, is fit to long-term the use, to the finger outward appearance of staff with move similarly, is applicable to that the anthropomorphic robot on hand.
Description of drawings
Fig. 1 is the front appearance figure of a kind of embodiment of coupling under-actuated integrated doublejointed robot finger apparatus provided by the invention.
Fig. 2 is the left side view of Fig. 1.
Fig. 3 is a three-dimensional appearance view embodiment illustrated in fig. 1.
Fig. 4 is the cutaway view of Fig. 2.
Fig. 5 is the right side cross-sectional view of Fig. 1.
Fig. 6 is a front view (pedestal bottom plate and first that do not draw refers to the section base plate) embodiment illustrated in fig. 1.
Fig. 7 is the location diagram of nearly joint shaft 4, third connecting rod 12 and the second spring spare 16.
Fig. 8 is an explosive view embodiment illustrated in fig. 1.
Fig. 9 is a cut away left side view of rotating with coupled modes embodiment illustrated in fig. 1.
Figure 10 is the equivalent connecting rod schematic diagram of rotary state shown in Figure 9.
Figure 11 is the cut away left side view (referring to that section and second refers to that Duan Jun is by grabbing object blocks this moment first) to owe the type of drive rotation embodiment illustrated in fig. 1.
Figure 12 is the equivalent connecting rod schematic diagram of rotary state shown in Figure 11.
Figure 13, Figure 14, Figure 15, Figure 16 and Figure 17 embodiment illustrated in fig. 1ly refer to that with two section gripping modes fully grasp object process schematic diagram (first refers to that section and second refers to that section is respectively around nearly joint shaft, joint shaft axis rotation far away).
Figure 18 is that present embodiment refers to that with two section grips the schematic diagram that mode grasps object.
Figure 19 is that present embodiment refers to a section schematic diagram that touches object with second.
In Fig. 1 to Figure 18:
The 1-pedestal, 2-first refers to section, 3-second refers to section, the nearly joint shaft of 4-,
5-joint shaft far away, the 6-decelerator, the 7-motor,
The 8-first connecting rod, first of 9-, the 10-second connecting rod, second of 11-,
The 12-third connecting rod, the 3rd of 13-, 14-the 4th connecting rod, the 15-first spring spare,
The 16-second spring spare, 17-transmission mechanism, 18-encoder, 19-object.
The specific embodiment
Further describe the content of concrete structure of the present invention, operation principle below in conjunction with drawings and Examples.
A kind of embodiment of the said coupling under-actuated integrated doublejointed robot finger apparatus of the present invention, as Fig. 1, Fig. 2, Fig. 3, Fig. 4, Fig. 5, Fig. 6, Fig. 7, Fig. 8, Fig. 9, Figure 10, Figure 11 and shown in Figure 12, comprise that pedestal 1, first refers to that section 2, second refers to section 3, nearly joint shaft 4, joint shaft 5 far away, decelerator 6 and motor 7; Said motor 7 is affixed with pedestal 1, the output shaft of motor 7 links to each other with the power shaft of said decelerator 6, the output shaft of decelerator 6 links to each other with said nearly joint shaft 4, and nearly joint shaft 4 is set in the pedestal 1, and said joint shaft 5 far away is set in said first and refers in the section 2; First refers to that section 2 is socketed on the nearly joint shaft 4, and said second refers to that section 3 is socketed on the joint shaft 5 far away; The axis of said nearly joint shaft 4 and joint shaft 5 far away is parallel to each other;
This embodiment also comprises first connecting rod 8, first spool 9, second connecting rod 10, second spool 11, third connecting rod 12, the 3rd the 13, the 4th connecting rod 14, the first spring spare 15 and the second spring spare 16;
One end of said first connecting rod 8 is fixed on the nearly joint shaft 4, the other end of first connecting rod 8 by said first 9 hinged with said second connecting rod 10 1 ends, the other end of second connecting rod 10 refers to that with second sections 3 hinged by said second 11; One end of said third connecting rod 12 is socketed on the nearly joint shaft 4, and the other end of third connecting rod is hinged by said the 3rd 13 end with said the 4th connecting rod 14, and the other end of the 4th connecting rod 14 is socketed on second 11; The two ends of the said first spring spare 15 connect first connecting rod 8 and first respectively and refer to section 2, and the two ends of the said second spring spare 16 connect third connecting rod 12 and pedestal 1 respectively; The axis of said first 9, second 11, the 3rd 13 and nearly joint shaft 4 is parallel to each other.
In the present embodiment, said nearly joint shaft 4, joint shaft far away 5, meet following relation for first 9, second 11 and the 3rd 13: the axis of establishing nearly joint shaft 4 is the P plane with the plane, axis place of joint shaft 5 far away, and first 9 axis is the M plane with the plane, axis place of joint shaft 5 far away; Then first 9 axis and the 3rd 13 axis is in the both sides on P plane, and second 11 axis and the 3rd 13 axis is in the both sides on M plane.
The said first spring spare 15 of the present invention and the second spring spare 16 adopt torsion spring, extension spring, stage clip, sheet spring or leaf spring, clockwork spring elastic threads.
In the present embodiment, the said first spring spare 15 and the second spring spare 16 adopt torsion spring.
The elastic force restriction of the said second spring spare 16 of the present invention is better than the elastic force restriction of the first spring spare 15.
In the present embodiment, the diameter of the elastic force restriction of said spring spare and the first spring spare 15 and the second spring spare 16, the number of turns and first refer to that section 2, second refers to stressed relevant in section 3 rotation processes.Be better than the elastic force restriction of the first spring spare 15 when the elastic force restriction of the second spring spare 16, can be achieved as follows effect: refer to that section 2 is when straight configuration begins to rotate when first, before first refers to that section 2 is not touched object, finger rotates with coupled modes, promptly the second finger section 3 refers to section 2 rotations with respect to first simultaneously, this moment, third connecting rod 12 was maintained fixed with respect to pedestal under the effect of the second spring spare 16, and the first spring spare 15 deforms.When first refer to that section 2 is touched object after, motor 7 is rotated further, and then points to owe type of drive and rotates, second refers to that section 3 refers to that with respect to first section 2 joint shaft 5 of going the long way round rotates, and refers to that up to second section 3 touches object, this moment, the first spring spare 15 and the second spring spare 16 all deformed.If change the relation of the elastic force restriction of the first spring spare 15 and the second spring spare 16, then can obtain to point coupled modes and the effect of owing type of drive priority different order when rotating.
Be provided with transmission mechanism 17 between said decelerator 6 of the present invention and the nearly joint shaft 4, the output shaft of decelerator 6 links to each other with nearly joint shaft 4 by said transmission mechanism 17.
In the present embodiment, said transmission mechanism 17 adopts gear drive.
In the present embodiment, on said motor 7, be provided with encoder 20.
The operation principle of present embodiment as Figure 13, Figure 14, Figure 15, Figure 16, Figure 17, Figure 18, Figure 19, is described below:
The original state of present embodiment as shown in figure 13, similar people's finger straight configuration.
When present embodiment grasped object, motor 7 rotated, and drove nearly joint shaft 4 by decelerator 6, transmission mechanism 17 and rotated, and nearly joint shaft 4 drives affixed with it first connecting rod 8 and rotates; Because the elastic force restriction of the first spring spare 15, first connecting rod 8 drives the first finger section 2 by the first spring spare 15 and rotates around nearly joint shaft 4; Joint shaft 5 far away is socketed in the first finger section 2, drives the second finger section 3 and follows first finger section 2 motion together; Because the elastic force restriction of the second spring spare 16, third connecting rod 12 does not rotate, its position immobilizes with respect to pedestal 1, but refer to that section 3 is with respect to nearly joint shaft 4 rotations owing to follow second for second 11, the 4th connecting rod 14 changes with respect to the position of joint shaft 5 far away, thereby the 4th connecting rod 14 promotes the second finger section 3 and goes the long way round joint shaft 5 with respect to 2 rotations of the first finger section when nearly joint shaft 4 rotates in the first finger section 2, this moment first, spring spare 15 produced distortion, but because the elastic force restriction of the second spring spare 16 is better than the first spring spare 15, so the second spring spare 16 does not still deform, this is two on finger and refers to that section adopts the coupled modes rotating process, as shown in figure 14.By adjusting the length of first connecting rod 8, second connecting rod 10, third connecting rod 12, the 4th connecting rod 14, and second 11 distance with the axis of joint shaft 5 far away, can obtain different coupling effects, first referred to that angles and second that section 2 is rotated around nearly joint shaft 4 refer to section 3 different proportion of joint shaft 5 with respect to the angle of first finger tip, 2 rotations of going the long way round when promptly coupling was rotated.Can run into following three kinds of situations this moment:
(a) second refers to that section 3 runs into object, and second refers to section 3 restricted can't moving, and rotates by second 11, second connecting rod 10, first spool 9 and the nearly joint shaft 4 of first connecting rod 8 restrictions successively, grasps and finishes, as shown in figure 19.
(b) first finger section 2 and second a finger section 3 is run into object simultaneously, and first refers to section 2 and second finger section 3 all restricted can't moving, and grasps and finishes, as shown in figure 18.
(c) the first finger section 2 is run into object, as shown in figure 15, first refers to section 2 restricted can't moving, the distortion elastic force that this moment, first connecting rod 8 overcame the first spring spare 15 under the drive of nearly joint shaft 4 is rotated further, and promote second by first 9, second connecting rod 10 and second 11 successively and refer to that section 3 joint shaft 5 of going the long way round rotates, simultaneously second 11 distortion elastic force that overcomes the second spring spare 16 by the 4th connecting rod 14 and the 3rd 13 pulling third connecting rod 12 rotates around nearly joint shaft 4, this is the finger employing and owes the type of drive rotating process, as shown in figure 16; Run into object up to the second finger section 3, first refers to that section 2 and second refers to section 3 all restricted can't moving, and grasps and finishes, as shown in figure 17.
When decontroling object, motor 7 counter-rotatings, drive nearly joint shaft 4 counter-rotatings by decelerator 6, transmission mechanism 17, first connecting rod 8 counter-rotating under nearly joint shaft 4 drives, first connecting rod 8 refers to section 3 joint shaft 5 counter-rotatings of going the long way round by first 9, second connecting rod 10 and second 11 pulling second successively, pass through the 4th connecting rod 14 and the 3rd 13 promotion third connecting rod 12 counter-rotatings simultaneously for second 11, this moment, the distortion of the first spring spare 15 and the second spring spare 16 was less gradually, return to not deformation state fully up to the second spring spare 16, as shown in figure 15; First connecting rod 8 continues counter-rotating, by first 9, second connecting rod 10 and second 11 pulling second refers to section 3 joint shaft 5 counter-rotatings that continue to go the long way round, because the elastic force restriction of the second spring spare 16, third connecting rod 12 no longer rotates, so the 4th connecting rod 14 changes with respect to the position of joint shaft 5 far away, the 4th connecting rod 14 is by second 11, second refers to that section 3 and joint shaft far away 5 pullings first refer to that section 2 is around nearly joint shaft 4 counter-rotatings, refer to that up to first section the 2 and the 3rd refers to that section 3 is inverted to initial finger straight configuration simultaneously, refer to above section 2 back boss is arranged all at pedestal 1 and first, this boss surpasses it in the time of will limiting the finger counter-rotating and initially stretches the position, play position-limiting action, counter-rotating finishes, as shown in figure 13.
The present invention utilizes a plurality of connecting rods and spring spare to constitute coupled transmission mechanism and owes drive transmission device, and two of sockets refer to section, has realized that comprehensively two joints finger coupling extracting process and under-driven adaptive extracting process are blended in the special-effect of one.Wherein constitute coupled transmission mechanism by two connecting rods and a spring spare; Constitute the under-driven adaptive transmission mechanism by two other connecting rod and a spring spare, two cover mechanisms are combined as a whole, and work simultaneously, can realize that the finger coupling is rotated and automatic decoupling zero is rotated in the under-driven adaptive mode.This finger apparatus adopts coupled modes to rotate before touching object, altitude measurement personalizes, help envelope simultaneously, prevent that object from leaving finger extracting scope, and can realize that gripping mode grasps object object, after touching object, can adopt the under-driven adaptive mode to rotate the extracting object again, adapt to the size and the shape of the object of grabbing automatically, realize that the gripping mode grasps, grasp and stablize, integrate the advantage of coupling Grasp Modes and under-driven adaptive Grasp Modes.This finger apparatus only adopts four connecting rods to constitute transmission mechanism, thereby textural anomaly is simple, and volume is little, and is reliable and stable, it is big, with low cost to exert oneself, and requires low to control system, be fit to long-term the use, similar to the finger outward appearance of staff with action, be applicable to that the anthropomorphic robot is on hand.
Claims (4)
1. a coupling under-actuated integrated doublejointed robot finger apparatus comprises that pedestal (1), first refers to that section (2), second refers to section (3), nearly joint shaft (4), joint shaft (5) far away, decelerator (6) and motor (7); Said motor (7) is affixed with pedestal (1), the output shaft of motor (7) links to each other with the power shaft of said decelerator (6), the output shaft of decelerator (6) links to each other with said nearly joint shaft (4), nearly joint shaft (4) is set in the pedestal (1), and said joint shaft far away (5) is set in said first and refers in the section (2); First refers to that section (2) is socketed on the nearly joint shaft (4), and said second refers to that section (3) is socketed on the joint shaft far away (5); The axis of said nearly joint shaft (4) and joint shaft (5) far away is parallel to each other;
It is characterized in that:
This coupling under-actuated integrated doublejointed robot finger apparatus also comprises first connecting rod (8), first (9), second connecting rod (10), second (11), third connecting rod (12), the 3rd (13), the 4th connecting rod (14), the first spring spare (15) and the second spring spare (16);
One end of said first connecting rod (8) is fixed on the nearly joint shaft (4), the other end of first connecting rod (8) is hinged by said first (9) and said second connecting rod (10) one ends, and the other end of second connecting rod (10) refers to that by said second (11) and second section (3) is hinged; One end of said third connecting rod (12) is socketed on the nearly joint shaft (4), and the other end of third connecting rod is hinged with an end of said the 4th connecting rod (14) by said the 3rd (13), and the other end of the 4th connecting rod (14) is socketed on second (11); The two ends of the said first spring spare (15) connect first connecting rod (8) and first respectively and refer to section (2), and the two ends of the said second spring spare (16) connect third connecting rod (12) and pedestal (1) respectively; The axis of said first (9), second (11), the 3rd (13) and nearly joint shaft (4) is parallel to each other;
Said nearly joint shaft (4), joint shaft (5) far away, first (9), second (11) and the 3rd (13) meet following relation: establishing the axis of nearly joint shaft (4) and the plane, axis place of joint shaft (5) far away is the P plane, and the axis of first (9) is the M plane with the plane, axis place of joint shaft (5) far away; Then the axis of the axis of first (9) and the 3rd (13) is in the both sides on P plane, and the axis of the axis of second (11) and the 3rd (13) is in the both sides on M plane;
The elastic force restriction of the said second spring spare (16) is better than the elastic force restriction of the first spring spare (15).
2. as the said coupling under-actuated integrated doublejointed robot finger apparatus of claim 1, it is characterized in that: said first spring spare (15) and the second spring spare (16) adopt torsion spring, extension spring, stage clip, sheet spring or leaf spring.
3. as the said coupling under-actuated integrated doublejointed robot finger apparatus of claim 1, it is characterized in that: be provided with transmission mechanism (17) between said decelerator (6) and nearly joint shaft (4), the output shaft of decelerator (6) links to each other with nearly joint shaft (4) by said transmission mechanism (17).
4. as the said coupling under-actuated integrated doublejointed robot finger apparatus of claim 1, it is characterized in that: on said motor (7), be provided with encoder (18).
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| CN101664930B true CN101664930B (en) | 2011-01-12 |
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| CN106426238B (en) * | 2015-08-10 | 2019-02-12 | 北京空间飞行器总体设计部 | Tendon-connecting rod mixed drive can be from stretching, extension two-freedom mechanism |
| CN106695745A (en) * | 2017-04-05 | 2017-05-24 | 安徽理工大学 | Novel planar under-actuated mechanical arm device |
| CN107901061B (en) * | 2017-11-22 | 2020-05-01 | 清华大学 | Sliding rod-assisted tail end linear parallel clamping self-adaptive robot finger device |
| CN109877868B (en) * | 2019-04-25 | 2021-03-23 | 北京邮电大学 | Coupling self-adaptive under-actuated human-simulated dexterous finger |
| JP2022148783A (en) * | 2021-03-24 | 2022-10-06 | 本田技研工業株式会社 | robot hand |
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