CN105479441B - Robot hand with three under-actuated fingers connected in parallel - Google Patents
Robot hand with three under-actuated fingers connected in parallel Download PDFInfo
- Publication number
- CN105479441B CN105479441B CN201610023822.0A CN201610023822A CN105479441B CN 105479441 B CN105479441 B CN 105479441B CN 201610023822 A CN201610023822 A CN 201610023822A CN 105479441 B CN105479441 B CN 105479441B
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- support
- finger
- hole
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- connecting rod
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- 230000007246 mechanism Effects 0.000 claims abstract description 30
- 238000009827 uniform distribution Methods 0.000 claims description 6
- 238000005242 forging Methods 0.000 abstract description 2
- 238000001514 detection method Methods 0.000 abstract 1
- 230000008878 coupling Effects 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 230000000295 complement effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 206010016256 fatigue Diseases 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0045—Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base
-
- 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
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
-
- 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
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/12—Gripping heads and other end effectors having finger members with flexible finger members
Abstract
The invention provides a robot hand with three under-actuated fingers connected in parallel. The robot hand comprises a machine base, a movable platform, a connecting rod, an SP type drive branch, two SPR type drive branches and three under-actuated finger mechanisms. The three drive branches and the three under-actuated finger mechanisms are evenly distributed between the movable platform and the machine base in a staggered manner in the circumferential direction. The upper end of the SP type drive branch is fixedly connected with the movable platform. The lower end of the SP type drive branch is in linkage with machine base ball pairs. The two ends of the connecting rod are in linkage with the upper ends of the two SPR type drive branches. The middle portion of the connecting rod is in linkage with the movable platform. The lower ends of the SPR type drive branches are in linkage with the machine base ball pairs. Each under-actuated finger mechanism comprises a supporting frame, the finger, a spring, an electric cylinder and a support. The supports are vertically and fixedly connected with the movable platform. The fingers are connected with the supporting frames. The electric cylinders drive the supporting frames to rotate. The flexible object grabbing motion of the tail ends of the fingers is achieved through the springs between the supporting frames and the fingers. The robot hand is simple in structure, large in finger pose working space and good in flexibility, can achieve flexible grabbing operation and can be used for the outer space, the deep-sea detection, forging operation, rescue, medical treatment operation and the like.
Description
Technical field
The present invention relates to robot field, particularly a kind of parallel manipulator staff.
Background technology
Parallel institution is relative to have mechanism's rigidity big, and bearing capacity is strong, and end mass is light, and inertia is little, and site error is not tired out
The features such as product, have complementary advantages with serial manipulator using upper.Compared with six-degree-of-freedom parallel connection mechanism, 3-freedom parallel mechanism tool
Have the advantages that structure is simpler, easily control, with many under-actuated finger mechanism series-parallel connections, may be constructed parallel flexible hand,
The highest attention of brainstrust is enjoyed in recent years.For purposes of illustration only, representing branch's number with n, branch's fortune is represented respectively with (S, U, P, R)
(ball pair, universal pair, moving sets rotate secondary) in dynamic chain, combinations thereof represents sub-chain structure.In Three Degree Of Freedom simultaneously
Online structure aspect, nineteen eighty-three Hunt proposes 3-RPS mechanisms, and nineteen ninety Pierrot proposes three translation Delta mechanisms, U.S. in 1996
State's patent USANo.5656905 discloses three translation 3-UPU mechanisms.Gosselin in 2002 propose three rotate 3-RRR mechanisms and
The even three translation 3-PRR mechanisms of solution.The patent of Publication No. CN101244558 discloses space three-rotation freedom parallel mechanism.
The patent of Publication No. CN101791804A discloses symmetrical two turn of one motion three-freedom-degree parallel mechanism.Publication No.
The patent of CN101025247 discloses the space three-freedom connection-in-parallel mechanism of mobile decoupling.Publication No. CN102632394A
Patent discloses the 3-freedom parallel mechanism with two rotating shafts that intersect vertically.Said mechanism differs from one another, but also has following
It is not enough：Mobile decoupling type parallel institution rigidity is relatively low, and in mobile decoupling direction, bearing capacity is poor.In terms of finger mechanism,
The patent of Publication No. CN102922532B discloses link-type coordinated drive robot finger apparatus.Publication No.
The patent of CN103358315B discloses full cradle head link-type under-driving robot finger mechanism.Publication No.
The patent of CN102935642B discloses connecting rod key slot type coupling drive lacking doublejointed robot finger apparatus.Publication No.
The patent of CN102717394B discloses bevel gear coupling type dexterous robot finger device.Publication No. CN102717393B
Patent discloses connecting rod coupling type dexterous robot finger device.Under the premise of parallel robot advantage is guaranteed, how to construct and contain
Three under-actuated finger parallel manipulator staff, realize that finger flexible operation captures object, and ensure larger position working space and spirit
Skilful degree, there is not been reported.Therefore constructing three under-actuated finger parallel manipulator staff with 3-freedom parallel mechanism becomes robot
The target of research field brainstrust unremitting effort.
The content of the invention
It is an object of the invention to provide a kind of simple structure, greatly, flexibility is good, flexible operation for finger pose working space
Containing three under-actuated finger parallel manipulator staff.
The present invention includes：Support, moving platform, connecting rod, SP types drive branch, 2 structure identical SPR types drive branches and
3 structure identical under-actuated finger mechanisms.Described 3 drive branch to be driven by conventional Linear telescopic electric cylinder
Dynamic, 3 drive branch to be in replace circumference uniform distribution between moving platform and support with 3 under-actuated finger mechanisms.Support is provided with 3
The ball pair bearing of individual circumference uniform distribution；Moving platform is provided with 1 horizontal through hole and 1 vertical through hole；Connecting rod middle part and moving platform
Horizontal through hole rotates connection, the through hole for being respectively arranged at two ends with perpendicular to connecting rod axis and being parallel to each other of the connecting rod；SP types drive
Branch upper end is connected with the vertical through hole of above-mentioned moving platform, and the SP types drive the lower end of branch and 1 ball seat ball duplicate invoice of support
Connect；2 SPR types drive branch upper end to couple with link rotatable by the through hole at above-mentioned connecting rod two ends respectively, and 2 SPR types drive
Dynamic branch lower end connects with other 2 ball seats ball duplicate invoice of support；Under-actuated finger mechanism includes support, and finger, spring is electronic
Cylinder, guide pillar, bearing；Wherein, bearing middle part is vertical with moving platform is connected, and support is rectangular frame, in the both sides of the support lower frame
Be respectively provided with 1 through hole, finger lower end and bearing upper end all rotate with the through hole on the inside of support lower frame and couple, electric cylinder upper end with prop up
Through hole on the outside of frame lower frame rotates connection, and the electric cylinder lower end rotates with bearing lower end and couples, and guide pillar is located at frame upper, and this is led
One end of post and finger middle part is vertical to be connected, and its other end is free end through the frame of support, spring housing on guide pillar, the bullet
One end of spring is against finger middle part, and the other end of the spring is against on the inwall of rack frame, and using spring finger tips are realized
Flexible contact captures object.
The present invention has the advantage that compared with prior art：
1st, simple structure, the free degree is few, and control is easy.
2nd, using the spring between support and finger, finger tips flexible contact object is realized.
3rd, 3-freedom parallel mechanism and three under-actuated finger mechanism coordinated movements of various economic factors, are capable of achieving three under-actuated fingers in parallel
Flexible coordinated manipulation of the robot in big pose working space, flexible crawl object.
4th, finger pose working space is big, and flexibility is good, flexible operation, can be used for space and deep-sea detecting, forging operation,
Rescue, medical operating and massage etc..
Description of the drawings
Fig. 1 is the structure schematic front view of the present invention.
Fig. 2 is the top view of Fig. 1.
In figure：1- supports, 2- moving platforms, 3-SPR types drive branch, 4- connecting rods, 5-SP types to drive branch, 6- drive lacking hands
Refer to mechanism, 6-1- electric cylinders, 6-2- bearings, 6-3- supports, 6-4 guide pillars, 6-5- springs, 6-6- fingers.
Specific embodiment：
Containing in three under-actuated finger parallel manipulator staff schematic diagrames, 3 drive branches to be all logical shown in Fig. 1 and Fig. 2
Cross conventional Linear telescopic electric cylinder to drive, 3 driving branches and 3 under-actuated finger mechanisms are between moving platform and support
In alternately circumference uniform distribution.Support 1 is provided with the ball pair bearing of 3 circumference uniform distributions；Moving platform 2 is provided with 1 horizontal through hole and 1
Vertical through hole；The middle part of connecting rod 4 couples with the horizontal through hole rotation of moving platform, and the connecting rod is respectively arranged at two ends with perpendicular to pitman shaft
Line and the through hole being parallel to each other；SP types drive the upper end of branch 5 to be connected with the vertical through hole of above-mentioned moving platform, and the SP types drive branch
Lower end connect with 1 ball seat ball duplicate invoice of support；2 SPR types drive the upper end of branch 3 respectively by the through hole at above-mentioned connecting rod two ends
Couple with link rotatable, 2 SPR types drive branch lower end to connect with other 2 ball seats ball duplicate invoice of support.Under-actuated finger machine
Vertical with moving platform in the middle part of bearing 6-2 in structure 6 to be connected, support 6-3 is rectangular frame, is respectively provided with the both sides of the support lower frame
1 through hole, finger 6-6 lower ends and bearing upper end all with the inside of support lower frame through hole rotate couple, electric cylinder 6-1 upper ends with prop up
Through hole on the outside of frame lower frame rotates connection, and the electric cylinder lower end rotates with bearing lower end and couples, and guide pillar 6-4 is located at frame upper,
One end of the guide pillar is vertical with finger middle part to be connected, and its other end is free end through the frame of support, and spring 6-5 is enclosed within guide pillar
On, one end of the spring is against finger middle part, and the other end of the spring is against on the inwall of rack frame, and using spring hand is realized
Refer to end flexible contact crawl object.
Claims (1)
1. a kind of to contain three under-actuated finger parallel manipulator staff, it includes：Support, moving platform, connecting rod, SP types driving branch, 2
Structure identical SPR type drives branch and 3 structure identical under-actuated finger mechanisms, it is characterised in that：3 drivings point
Be all to be driven by conventional Linear telescopic electric cylinder, 3 drive branches and 3 under-actuated finger mechanisms moving platform with
In alternately circumference uniform distribution between support, support is provided with the ball pair bearing of 3 circumference uniform distributions, and moving platform is provided with 1 level and leads to
Hole and 1 vertical through hole；Connecting rod middle part couples with the rotation of the horizontal through hole of moving platform, the connecting rod be respectively arranged at two ends with perpendicular to
Connecting rod axis and the through hole being parallel to each other；SP types drive branch upper end to be connected with the vertical through hole of above-mentioned moving platform, and the SP types drive
The lower end of dynamic branch connects with the 1 of support ball pair support ball duplicate invoice；2 SPR types drive branch upper end to pass through above-mentioned connecting rod respectively
The through hole at two ends couples with link rotatable, and 2 SPR types drive other 2 balls pair support ball duplicate invoice of branch lower end and support
Connect；
The under-actuated finger mechanism includes support, finger, spring, electric cylinder, guide pillar, bearing；Wherein, bearing middle part is flat with dynamic
Platform is vertically connected, and support is rectangular frame, and in the both sides of the support lower frame 1 through hole, finger lower end and bearing upper end are respectively provided with
All rotate with the through hole on the inside of support lower frame and couple, electric cylinder upper end rotates with the through hole on the outside of support lower frame and couples, and this is electronic
Cylinder lower end rotates with bearing lower end and couples, and guide pillar is located at frame upper, and one end of the guide pillar is vertical with finger middle part to be connected, and its is another
One end is free end through the frame of support, and on guide pillar, one end of the spring is against finger middle part to spring housing, the spring it is another
One end is against on the inwall of rack frame.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610023822.0A CN105479441B (en) | 2016-01-13 | 2016-01-13 | Robot hand with three under-actuated fingers connected in parallel |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610023822.0A CN105479441B (en) | 2016-01-13 | 2016-01-13 | Robot hand with three under-actuated fingers connected in parallel |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105479441A CN105479441A (en) | 2016-04-13 |
| CN105479441B true CN105479441B (en) | 2017-04-26 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610023822.0A Expired - Fee Related CN105479441B (en) | 2016-01-13 | 2016-01-13 | Robot hand with three under-actuated fingers connected in parallel |
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| Country | Link |
|---|---|
| CN (1) | CN105479441B (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107042521A (en) * | 2017-04-18 | 2017-08-15 | 温州职业技术学院 | Many finger parallel manipulators of soft drive |
| CN109176492B (en) * | 2018-11-08 | 2020-07-31 | 山东大学 | Manipulator based on reconfigurable parallel mechanism |
| CN109834701B (en) * | 2019-03-08 | 2020-10-02 | 燕山大学 | Hybrid operation manipulator device containing seven-rod flexible force sensing finger mechanism |
| CN114714383B (en) * | 2022-03-16 | 2023-06-09 | 四川大学华西医院 | Decoupling three-degree-of-freedom finger-palm variable grabbing mechanism |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| SU1237418A1 (en) * | 1984-12-21 | 1986-06-15 | Николаевский Ордена Трудового Красного Знамени Кораблестроительный Институт Им.Адм.С.О.Макарова | Gripping device |
| CN101244558A (en) * | 2008-03-28 | 2008-08-20 | 天津大学 | Space three-rotation freedom parallel mechanism |
| CN103358315A (en) * | 2013-07-19 | 2013-10-23 | 吴立成 | Connecting-rod-type underactuated robot finger mechanism with all-rotational joints |
| CN203380903U (en) * | 2013-07-22 | 2014-01-08 | 江南大学 | Series loose-leaf hinge flexible claw driven and controlled by electric push rods |
| CN104827484A (en) * | 2015-05-20 | 2015-08-12 | 清华大学 | Gripper |
| CN204819547U (en) * | 2015-07-16 | 2015-12-02 | 上海挪亚检测认证有限公司 | A flexible mechanical hand for industrial robot |
-
2016
- 2016-01-13 CN CN201610023822.0A patent/CN105479441B/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| SU1237418A1 (en) * | 1984-12-21 | 1986-06-15 | Николаевский Ордена Трудового Красного Знамени Кораблестроительный Институт Им.Адм.С.О.Макарова | Gripping device |
| CN101244558A (en) * | 2008-03-28 | 2008-08-20 | 天津大学 | Space three-rotation freedom parallel mechanism |
| CN103358315A (en) * | 2013-07-19 | 2013-10-23 | 吴立成 | Connecting-rod-type underactuated robot finger mechanism with all-rotational joints |
| CN203380903U (en) * | 2013-07-22 | 2014-01-08 | 江南大学 | Series loose-leaf hinge flexible claw driven and controlled by electric push rods |
| CN104827484A (en) * | 2015-05-20 | 2015-08-12 | 清华大学 | Gripper |
| CN204819547U (en) * | 2015-07-16 | 2015-12-02 | 上海挪亚检测认证有限公司 | A flexible mechanical hand for industrial robot |
Non-Patent Citations (1)
| Title |
|---|
| Kinetostatic analysis of a novel 6-DOF 3UPS parallel manipulator with multi-fingers;Yi Lu等;《Mechanism and Machine Theory》;20140331;第36-50页 * |
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| CN105479441A (en) | 2016-04-13 |
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