CN106113024A - The three freedom degree manipulator of a kind of tendon connecting rod mixed drive refers to and control method - Google Patents
The three freedom degree manipulator of a kind of tendon connecting rod mixed drive refers to and control method Download PDFInfo
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- CN106113024A CN106113024A CN201610506996.2A CN201610506996A CN106113024A CN 106113024 A CN106113024 A CN 106113024A CN 201610506996 A CN201610506996 A CN 201610506996A CN 106113024 A CN106113024 A CN 106113024A
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- tendon
- joint
- pulley
- finger
- rotary shaft
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- 210000002435 Tendons Anatomy 0.000 title claims abstract description 77
- 210000001145 Finger Joint Anatomy 0.000 claims abstract description 76
- 238000005452 bending Methods 0.000 claims abstract description 9
- 230000001808 coupling Effects 0.000 claims abstract description 7
- 238000010168 coupling process Methods 0.000 claims abstract description 7
- 238000005859 coupling reaction Methods 0.000 claims abstract description 7
- 210000001503 Joints Anatomy 0.000 claims abstract description 6
- 210000003141 Lower Extremity Anatomy 0.000 claims description 12
- 230000002153 concerted Effects 0.000 claims description 3
- 239000007787 solid Substances 0.000 claims description 3
- 230000005540 biological transmission Effects 0.000 abstract description 2
- 239000004744 fabric Substances 0.000 abstract description 2
- 238000010276 construction Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 210000003371 Toes Anatomy 0.000 description 1
- 239000008358 core component Substances 0.000 description 1
- 230000004927 fusion Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000006011 modification reaction Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000002054 transplantation Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/1075—Programme-controlled manipulators characterised by positioning means for manipulator elements with muscles or tendons
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
-
- 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
Abstract
The three freedom degree manipulator that the invention discloses a kind of tendon connecting rod mixed drive refers to and control method, uses tendon type of drive joint each to finger to be driven, it is possible to realize driving the rearmounted of motor, it is to avoid cloth centrally-mounted driving under the narrow space of finger；Can be under identical physical dimension limits, it is provided that than higher driving forces of traditional transmission mode such as gear, chain, V belt translation；Refer to that joint is driven by connecting rod coupling and far refer to joint, it is achieved that far refer to the gearing of joint and middle finger joint so that far refer to, between joint and middle finger joint, there is the relative motion relation determined, use a motor achieve middle finger joint and far refer to the control in two joints in joint.Both achieve the crawl of finger, save again driving number of motors；Using four driving sources to realize the three degree of freedom such as bending expansion and lateral deviation of finger, this type of drive eliminates the strainer during tendon drives, and simplifies finger structure, reduces cost, improves reliability.
Description
Technical field
The invention belongs to Industrial Robot Technology field, be specifically related to the Three Degree Of Freedom machine of a kind of tendon-connecting rod mixed drive
Tool finger and control method.
Background technology
Mechanical finger is the core component of mechanical hand, and mechanical hand is industrial circle or space field enforcement crawl behaviour
The important actuator made, mechanical hand is able to carry out accurate operation, dexterous manipulation, completes to grasp, screws, plugs, moves, is directed at
Deng typical operation, these operations are the most representative in ground and space tasks.When mechanical finger is applied to commercial production
During with spatial environments, mechanical finger should as far as possible simple in construction, stable and reliable for performance, there is the sensing realized needed for grasping manipulation
Device etc..
The type of drive of mechanical finger is many based on motor direct-drive joint at present, and in this kind of mode, motor is placed in machinery
Finger interior, owing to being limited by finger space, motor volume is less, and the grasp force causing finger is less；Mechanical hand at present
The sensor referred to, based on position sensor, also has Toe Transplantation for Segmental Finger to have fingertip force sensor, and tendon drives in finger and can measure
The finger of driving force is less；The invention provides and a kind of can measure joint position, speed, finger tip power, tendon driving force function
Tendon-connecting rod combination drive mechanical finger, the driving motor of this finger is placed in outside, drives the selection of motor not by finger size
Limit, there is the advantages such as sensor abundant, simple in construction, finger tip are exerted oneself greatly, reliability height, strong operability.
Devising a kind of hydraulically powered the five fingers mechanical hand in patent US8459711B2, the finger of this hands uses hydraulic pressure to drive
Dynamic, each finger has three bending joints, uses connecting rod to form coupled drive and form a bending freely between three joints
Degree, this finger has big advantage of exerting oneself.It is less that the shortcoming of this finger shows as degree of freedom, owing to being hydraulic-driven therefore space
Environmental suitability is poor.
Summary of the invention
In view of this, the three freedom degree manipulator that it is an object of the invention to provide a kind of tendon-connecting rod mixed drive refers to and controls
Method processed, uses and drives tendon to drive each joint motions of finger, and driving source is placed in outside finger so that finger is provided with structure letter
The feature that list, volume and quality are little, multisensor makes again finger have multiple perception, improves the controllable of finger
Property so that finger has possessed the hardware foundation realized needed for senior control.
A kind of mechanical finger, drives tendon J1, J2, J3, J4 and the pedestal (1) being sequentially connected, base to refer to joint including four
(2), closely refer to save (3), middle finger joint (4) and far refer to save (5)；
Described pedestal (1) is the support of whole mechanical finger, and pedestal (1), base refer to save (2), closely refer to save (3), middle finger joint
(4) revolute pair is formed with between adjacent two parts far referring to joint (5)；Described remote finger joint (5) also and closely refers to save employing between (3)
Connecting rod is attached, and far refers to save the coupled motions between (5) and middle finger joint (4) to produce；Drive tendon J1 and drive the one of tendon J2
End is each attached to closely refer to save on (3), and the other end is respectively led into pedestal (1) place；Drive tendon J1 and drive tendon J2 to be respectively used to drive
Closely refer to that saving (3) refers to save the bending of (2) around base and launch motion；Drive tendon J3 and drive one end of tendon J4 to be each attached to middle finger joint
(4) on, the other end is respectively led into pedestal (1) place, drives tendon J3 and drives tendon J4 to be used for driving middle finger joint (4) around closely referring to joint (3)
Bending and launch motion.
Further, described pedestal (1) includes base seat support (1-6), rotary shaft (1-7), bearing (1-8), rotary shaft (1-
9), pulley (1-10) and (1-11), pulley (1-14), (1-15), (1-16) and (1-17)；Wherein, pulley (1-10) and (1-
11) upper and lower it is arranged in rotary shaft (1-9), is placed in the inside of base seat support (1-6)；Rotary shaft (1-7) is through bearing (1-8)
It is installed on base seat support (1-6), pulley (1-14), (1-15), (1-16) and (1-17) is the most coaxial is installed on rotation
On axle (1-7), and it is installed on the inside of base seat support (1-6)；
Described base refer to save (2) include base refer to save housing (2-1), driving wheel (2-2), rotary shaft (2-3), compact heap (2-4),
Bearing (2-6), pulley (2-7) and (2-8)；Rotary shaft (2-3) is installed on base through bearing (2-6) and refers to save on housing (2-1)；Drive
Wheel (2-2), pulley 2-8 and 2-7 are installed in rotary shaft (2-3) from right to left, wherein, and driving wheel (2-2) and closely finger joint housing
(3-3) it is connected；Pulley (2-7) and (2-8) can rotate around rotary shaft (2-3)；Before compact heap (2-4) is positioned at driving wheel (2-2)
Side, and be connected with closely finger joint housing (3-3), for compressing described driving tendon J1 and the termination of driving tendon J2；
Described nearly finger joint (3) includes pulley (3-1) and (3-2), closely refers to joint housing (3-3), bearing (3-4), driving wheel (3-
5), compact heap (3-7), closely refer to joint lid (3-8), rotary shaft (3-9)；Pulley (3-1) and (3-2) coaxial being installed on closely refer to joint housing
(3-3) on, and it is positioned at pulley (2-7) and the front side of (2-8)；Rotary shaft (3-9) is installed on through bearing (3-4) and closely refers to joint housing
(3-3) on；Driving wheel (3-5) is installed on the left side of middle finger joint housing (4-1), and is connected with it；Compact heap (3-7) is positioned at driving
The front side of wheel (3-5), and be connected with middle finger joint housing (4-1)；Drive the termination of tendon J3 and J4 through compact heap (3-7) and middle finger joint
Housing (4-1) connects；
Described middle finger joint (4) includes middle finger joint housing (4-1), bearing (4-2), connecting rod (4-3) and rotary shaft (4-5)；
Rotary shaft (4-5) is installed on middle finger joint housing (4-1) through bearing (4-2), connecting rod (4-3) one end and closely finger joint housing (3-3)
Connecting, the other end is connected with far finger joint housing 5-1, and connecting rod (4-3) makes middle finger joint housing (4-1) and closely refers to joint housing (3-3)
Motion exist coupling；Far refer to that joint housing 5-1 can rotate relative to middle finger joint housing (4-1) around rotary shaft (4-5)；
Described driving tendon J1 walks around driving wheel (2-2) lower limb, and successively on upper point of pulley (1-14) and pulley (1-10)
Not after a circle, cause on pedestal (1)；Tendon J2 is driven to walk around driving wheel (2-2) top edge, and successively in pulley (1-17) and cunning
After enclosing rotating around one on wheel (1-11), cause on pedestal (1)；Drive tendon J3 solid with nearly middle joint housing (4-1) through compact heap (3-7)
Even, tendon J3 is driven to walk around driving wheel (3-5) top edge, pulley (3-2) lower limb, and the top edge of pulley (2-8) successively, so
After on pulley (1-16) around one circle, finally cause on pedestal；Tendon J4 is driven to save housing (4-1) through compact heap (3-7) near
It is connected, drives tendon J4 to walk around driving wheel (3-5) lower limb, pulley (3-1) lower limb, and the top edge of pulley (2-7) successively,
Then around a circle on pulley (1-15), finally cause on pedestal (1).
Further, described pedestal (1) also includes four pulling force sensors (1-1), (1-2), (1-3) and (1-4) and passes
Sensor bracket (1-5)；Sensor stand (1-5) is arranged on base seat support (1-6), and described four pulling force sensors are arranged on biography
On sensor bracket (1-5)；After described driving tendon J1, J2, J3 and J4 cause pedestal (1), draw through four the most correspondingly
Force transducer.
Further, rotary shaft (1-7), rotary shaft (2-3), the rotational angle of rotary shaft (3-9) and angular velocity use and compile
Code device is measured.
Further, described remote refer to that joint (5) includes far referring to saving housing (5-1), six-dimension force sensor (5-2) and far refer to joint
Lid (5-3)；Six-dimension force sensor is installed on and far refers on joint housing (5-1), for measuring the stress of finger tip；Far refer to joint lid (5-3)
Being installed on six-dimension force sensor (5-2) top, when finger grip object, the stress of finger is through far referring to that joint lid (5-3) is transmitted to
Six-dimension force sensor (5-2).
The control method of a kind of mechanical finger, applies the pulling force that size and Orientation is identical, to driving to driving tendon J1 with J2
Tendon J3 with J4 also applies the pulling force that size and Orientation is identical；Control to drive pulling force suffered by tendon J1 and J2 make a concerted effort with drive tendon J3 and
The difference of making a concerted effort of pulling force suffered by J4, then realize finger and move around the lateral deviation of rotary shaft (1-7).
There is advantages that
(1) present invention uses tendon type of drive joint each to finger to be driven, it is possible to realizes driving the rearmounted of motor, keeps away
Exempt from cloth centrally-mounted driving under the narrow space of finger.
(2) present invention uses tendon drive system joint each to finger to be driven, it is possible to limit in identical physical dimension
Under, it is provided that than higher driving forces of traditional transmission mode such as gear, chain, V belt translation.
(3) middle finger joint of the present invention is driven by connecting rod coupling and far refers to joint, it is achieved that far refer to the gearing of joint and middle finger joint so that
Far refer to joint with middle finger joint between there is the relative motion relation determined, uses one motor achieve middle finger joint and far finger save in two
The control in individual joint.Both achieve the crawl of finger, save again driving number of motors.
(4) present invention uses the three degree of freedoms such as four driving sources the bending expansion and the lateral deviation that realize finger, this driving side
Formula eliminates the strainer during tendon drives, and simplifies finger structure, reduces cost, improves reliability.
(5) in the present invention, finger has the multiple sensors such as encoder, six-dimensional force, pulling force, it is possible to the position of finger, grab
Taking contact force, drive the much informations such as motor driving force to measure, these information can serve as driving motor to control
The input quantity of system, is the system of a Multi-sensor Fusion.
Accompanying drawing explanation
Fig. 1 is the mechanical finger with driving tendon J1, J2, J3 and J4 of the present invention；
Fig. 2 is the mechanical finger with driving tendon J1 and J2 of the present invention；
Fig. 3 is the mechanical finger with driving tendon J3 and J4 of the present invention；
1-pedestal, 1-1,1-2,1-3 and 1-4-pulling force sensor, 1-5-sensor stand, 1-6-base seat support, 1-7,1-
9,2-3,3-9,4-5-rotary shaft, 1-8,2-6,3-4,4-2-bearing, 1-10,1-11,1-14,1-15,1-16,1-17,2-7,
2-8,3-1,3-2-pulley, 1-12-sleeve, 1-13,2-5,3-6-encoder, 2-base refers to joint, and 2-1-base refers to save housing, 2-2,3-
5-driving wheel, 2-4,3-7-compact heap；
3-closely refers to joint, and 3-3-closely refers to save housing, closely refers to joint lid 3-8；
4-middle finger joint, 4-1-middle finger joint housing, 4-3-connecting rod, 4-4-middle finger joint lid；
5-far refers to joint, and 5-1-far refers to save housing, 5-2-six-dimension force sensor, and 5-3-far refers to joint lid.
Detailed description of the invention
Develop simultaneously embodiment below in conjunction with the accompanying drawings, describes the present invention.
The three freedom degree manipulator of a kind of tendon-connecting rod mixed drive refers to, as Figure 1-4, pedestal 1, base refers to save 2, near
Refer to joint 3, middle finger joint 4, far refer to that joint 5, driving tendon J1, J2, J3 and J4 form.
Described pedestal 1 includes pulling force sensor 1-1,1-2,1-3 and 1-4, sensor stand 1-5, base seat support 1-6, rotation
Rotating shaft 1-7, bearing 1-8, rotary shaft 1-9, pulley 1-10 and 1-11, sleeve 1-12, encoder 1-13, pulley 1-14,1-15,1-
16 and 1-17.Pulling force sensor 1-1,1-2,1-3 and 1-4, be installed on sensor stand 1-5, sensor stand 1-5 and pedestal
Support 1-6 is connected；The upper and lower layout of pulley 1-10 and 1-11, rotary shaft 1-9 is overlapped as both center of rotation axles, sleeve 1-12
It is contained in outside rotary shaft 1-9；Thus, pulley 1-10 and 1-11 rotated axle 1-9 is installed on the inside of base seat support 1-6, pulley
1-10 and 1-11 can rotate around rotary shaft 1-9；Rotary shaft 1-7 is installed on base seat support 1-6 through bearing 1-8, pulley 1-14,
1-15,1-16 and 1-17 are the most coaxial to be installed in rotary shaft 1-7, and is installed on the inside of base seat support 1-6, can be around
Rotary shaft 1-7 rotates；Encoder 1-13 is for measuring angle and the angular velocity that rotary shaft 1-7 rotates.
Described base refers to save 2 and includes that base refers to save housing 2-1, driving wheel 2-2, rotary shaft 2-3, compact heap 2-4, encoder 2-5,
Bearing 2-6, pulley 2-7 and 2-8.Rotary shaft 2-3 is installed on base through bearing 2-6 and refers to save on housing 2-1；Driving wheel 2-2, encoder
2-5, pulley 2-7 and 2-8 are installed in rotary shaft 2-3 from right to left, and wherein, driving wheel 2-2 is connected with closely finger joint housing 3-3；
Pulley 2-7 and 2-8 can rotate around rotary shaft 2-3；Compact heap 2-4 is positioned at the front side of driving wheel 2-2, and saves housing 3-3 with closely finger
It is connected, drives tendon J1 for compressing and drive the termination of tendon J2.
Described nearly finger joint 3 includes pulley 3-1 and 3-2, closely refers to joint housing 3-3, bearing 3-4, driving wheel 3-5, encoder 3-
6, compact heap 3-7, closely refer to joint lid 3-8, rotary shaft 3-9.Coaxial being installed on of pulley 3-1 and 3-2 closely refers on joint housing 3-3, and position
Front side in pulley 2-7 and 2-8；Rotary shaft 3-9 is installed on through bearing 3-4 and closely refers on joint housing 3-3；Driving wheel 3-5, encoder
3-6 is installed in rotary shaft 3-9, and driving wheel 3-5 is installed on the left side of middle finger joint housing 4-1, and is connected with it；Compact heap 3-7
It is positioned at the front side of driving wheel 3-5, and is connected with middle finger joint housing 4-1；Drive the termination of tendon J3 and J4 through compact heap 3-7 and middle finger
Joint housing 4-1 connects, and closely refers to that joint lid 3-8 is finger external packing structure, is installed on and closely refers on joint housing 3-3.
Described middle finger joint 4 includes middle finger joint housing 4-1, bearing 4-2, connecting rod 4-3, middle finger joint lid 4-4, rotary shaft 4-5.Rotation
Rotating shaft 4-5 is installed on middle finger joint housing 4-1 through bearing 4-2, connecting rod 4-3 one end with closely refer to joint housing 3-3 is connected, the other end and
Far referring to that joint housing 5-1 connects, connecting rod 4-3 makes middle finger joint housing 4-1 and closely refers to that the motion of joint housing 3-3 (finger tip) exists coupling
Close, the most closely refer to drive middle finger joint housing 4-1 to move during joint housing 3-3 motion simultaneously；Far refer to that joint housing 5-1 can be around rotary shaft 4-5
Relatively rotate with middle finger joint housing 4-1；Middle finger joint lid 4-4 is the outer package of finger, is installed on middle finger joint housing 4-1.
Described remote finger joint 5 includes far referring to save housing 5-1, six-dimension force sensor 5-2, far refers to that joint covers 5-3.Six-dimension force sensor
It is installed on and far refers on joint housing 5-1, for measuring the stress of finger tip；Far refer to that joint lid 5-3 is installed on six-dimension force sensor 5-2 top
Portion, when finger grip object, the stress of finger is through far referring to that joint lid 5-3 is transmitted to six-dimension force sensor 5-2.
The termination of described driving tendon J1 and J2 is all fixed on by compact heap 2-4 and closely refers to, on joint housing 3-3, wherein, drive
Tendon J1 walks around driving wheel 2-2 lower limb, and successively on pulley 1-14 and pulley 1-10 rotating around a circle after, cause pedestal 1
On sensor stand 1-1.Tendon J2 is driven to walk around driving wheel 2-2 top edge, and difference on pulley 1-17 and pulley 1-11 successively
After a circle, cause on the sensor stand 1-1 of pedestal 1.Drive tendon J3 to be connected with nearly middle joint housing 4-1 through compact heap 3-7, drive
Dynamic tendon J3 walks around driving wheel 3-5 top edge successively, and pulley 3-2 lower limb, and the top edge of pulley 2-8, then at pulley 1-
Around a circle on 16, finally cause on the sensor stand 1-3 of pedestal 1.Tendon J4 is driven to save housing 4-1 through compact heap 3-7 near
It is connected, drives tendon J4 to walk around driving wheel 3-5 lower limb, pulley 3-1 lower limb, and the top edge of pulley 2-7 successively, then exist
Around a circle on pulley 1-15, finally cause on the sensor stand 1-4 of pedestal 1.
Detailed description of the invention one:
When driving tendon J1 when pulled, closely refer to that joint housing 3-3 and base refer to that saving housing 2-1 occurs local inclination to rotate, performance
For closely referring to that joint housing 3-3 refers to save the curvature movement of housing 2-1 relative to base；
When driving tendon J2 when pulled, closely refer to that joint housing 3-3 refers to that with base saving housing 2-1 generation rotates relative to launching, and shows
For closely referring to that joint housing 3-3 refers to save the expansion campaign of housing 2-1 relative to base；When driving tendon J3 when pulled, middle finger joint housing 4-1
Occur local inclination to rotate with closely finger joint housing 3-3, show as middle finger joint housing 4-1 relative to the bending closely referring to save housing 3-3
Motion, owing to middle finger joint housing 4-1 realizes coupling gearing by connecting rod 4-3 between housing 5-1 with far referring to save, therefore works as middle finger joint
Housing 4-1 and closely refer to joint housing 3-3 between occur local inclination rotate time, far refer to save housing 5-1 also together with time relative to middle finger
Joint housing 4-1 bends rotation；When driving tendon J4 when pulled, middle finger joint housing 4-1 is relative with closely referring to joint housing 3-3 generation
Launch to rotate, show as middle finger joint housing 4-1 relative to the expansion campaign closely referring to joint housing 3-3, due to middle finger joint housing 4-1 and
Far refer to joint housing 5-1 between by connecting rod 4-3 realize coupling interlock, therefore when middle finger joint housing 4-1 with closely refer to save housing 3-3 it
Between when occurring relatively to launch, far refer to joint housing 5-1 also together with time occur to launch motion relative to middle finger joint housing 4-1.
Specific embodiments two: combine Fig. 1, Fig. 2 and the present embodiment is described.When driving tendon J1, J2 to be simultaneously pulled, base
Refer to that joint housing 2-1 will occur the rotation relative to base seat support 1-6 around rotary shaft 1-7, show as finger along this pulling force around rotation
The lateral deviation (lateral deviation clockwise) in the moment direction that axle 1-7 produces；When driving tendon J3, J4 to be simultaneously pulled, base refers to save shell
Body 2-1 will occur the rotation relative to base seat support 1-6 around rotary shaft 1-7, show as finger and produce around rotary shaft 1-7 along this pulling force
The lateral deviation (counterclockwise lateral deviation) in raw moment direction.
Specific embodiments three: when finger is curved as described in specific embodiments one, two, launches and during lateral deviation,
Middle finger joint housing 4-1 is measured by encoder 3-6 relative to the rotational angle and velocity of rotation closely referring to joint housing 3-3；Closely refer to joint
Housing 3-3 refers to save the rotational angle of housing 2-1 relative to base and velocity of rotation is measured by encoder 2-5；Base refers to save housing 2-1
Rotational angle and velocity of rotation relative to base seat support 1-6 are measured by encoder 1-13；Drive driving of tendon J1, J2, J3, J4
Dynamic pulling force is measured by pulling force sensor 1-1,1-2,1-3 and 1-4；It is installed on the six-dimensional force far referred on joint housing 5-1 to pass
Sensor 5-2 realizes far referring to joint lid 5-3 and being grabbed the measurement of the contact forces of object.The information of these sensor measurements is passed
To control system for realizing the motor control to finger.
In sum, these are only presently preferred embodiments of the present invention, be not intended to limit protection scope of the present invention.
All within the spirit and principles in the present invention, any modification, equivalent substitution and improvement etc. made, should be included in the present invention's
Within protection domain.
Claims (6)
1. a mechanical finger, it is characterised in that include four drive tendon J1, J2, J3, J4 and the pedestal (1) being sequentially connected,
Base refers to save (2), closely refer to save (3), middle finger joint (4) and far refer to save (5)；
Described pedestal (1) is the support of whole mechanical finger, pedestal (1), base refer to save (2), closely refer to save (3), middle finger joint (4) and
Far refer to be formed between adjacent two parts of joint (5) revolute pair；Described remote finger joint (5) also and closely refers to save employing connecting rod between (3) and enters
Row connects, and far refers to save the coupled motions between (5) and middle finger joint (4) to produce；The one end driving tendon J1 and driving tendon J2 is the most solid
Being scheduled on and closely refer to save on (3), the other end is respectively led into pedestal (1) place；Driving tendon J1 and driving tendon J2 is respectively used to drive and closely refers to save
(3) refer to save the bending of (2) and launch motion around base；Drive tendon J3 and drive one end of tendon J4 to be each attached on middle finger joint (4), separately
One end is respectively led into pedestal (1) place, drive tendon J3 and drive tendon J4 be used for driving middle finger joint (4) around closely refer to save (3) bending and
Launch motion.
2. a kind of mechanical finger as claimed in claim 1, it is characterised in that described pedestal (1) includes base seat support (1-6),
Rotary shaft (1-7), bearing (1-8), rotary shaft (1-9), pulley (1-10) and (1-11), pulley (1-14), (1-15), (1-16)
(1-17)；Wherein, pulley (1-10) and (1-11) is upper and lower is arranged in rotary shaft (1-9), it is placed in base seat support (1-6)
Inside；Rotary shaft (1-7) is installed on base seat support (1-6) through bearing (1-8), pulley (1-14), (1-15), (1-16) and
(1-17) the most coaxial it is installed in rotary shaft (1-7), and is installed on the inside of base seat support (1-6)；
Described base refers to that saving (2) includes that base refers to save housing (2-1), driving wheel (2-2), rotary shaft (2-3), compact heap (2-4), bearing
(2-6), pulley (2-7) and (2-8)；Rotary shaft (2-3) is installed on base through bearing (2-6) and refers to save on housing (2-1)；Driving wheel
(2-2), pulley 2-8 and 2-7 be installed on from right to left in rotary shaft (2-3), wherein, driving wheel (2-2) with closely refer to save housing (3-
3) it is connected；Pulley (2-7) and (2-8) can rotate around rotary shaft (2-3)；Compact heap (2-4) is positioned at the front side of driving wheel (2-2),
And be connected with closely finger joint housing (3-3), for compressing described driving tendon J1 and the termination of driving tendon J2；
Described near referring to that joint (3) includes pulley (3-1) and (3-2), closely finger saves housing (3-3), bearing (3-4), driving wheel (3-5),
Compact heap (3-7), closely refers to joint lid (3-8), rotary shaft (3-9)；Pulley (3-1) and (3-2) coaxial being installed on closely refer to joint housing (3-
3) on, and it is positioned at pulley (2-7) and the front side of (2-8)；Rotary shaft (3-9) is installed on through bearing (3-4) and closely refers to joint housing (3-3)
On；Driving wheel (3-5) is installed on the left side of middle finger joint housing (4-1), and is connected with it；Compact heap (3-7) is positioned at driving wheel (3-
5) front side, and be connected with middle finger joint housing (4-1)；Drive the termination of tendon J3 and J4 through compact heap (3-7) and middle finger joint housing
(4-1) connect；
Described middle finger joint (4) includes middle finger joint housing (4-1), bearing (4-2), connecting rod (4-3) and rotary shaft (4-5)；Rotate
Axle (4-5) is installed on middle finger joint housing (4-1) through bearing (4-2), and connecting rod (4-3) one end is connected with closely finger joint housing (3-3),
The other end is connected with far finger joint housing 5-1, and connecting rod (4-3) makes middle finger joint housing (4-1) and closely refers to the motion of joint housing (3-3)
There is coupling；Far refer to that joint housing 5-1 can rotate relative to middle finger joint housing (4-1) around rotary shaft (4-5)；
Described driving tendon J1 walks around driving wheel (2-2) lower limb, and successively on pulley (1-14) and pulley (1-10) rotating around
After one circle, cause on pedestal (1)；Tendon J2 is driven to walk around driving wheel (2-2) top edge, and successively at pulley (1-17) and pulley
(1-11), after enclosing rotating around one on, cause on pedestal (1)；Drive tendon J3 solid with nearly middle joint housing (4-1) through compact heap (3-7)
Even, tendon J3 is driven to walk around driving wheel (3-5) top edge, pulley (3-2) lower limb, and the top edge of pulley (2-8) successively, so
After on pulley (1-16) around one circle, finally cause on pedestal；Tendon J4 is driven to save housing (4-1) through compact heap (3-7) near
It is connected, drives tendon J4 to walk around driving wheel (3-5) lower limb, pulley (3-1) lower limb, and the top edge of pulley (2-7) successively,
Then around a circle on pulley (1-15), finally cause on pedestal (1).
3. a kind of mechanical finger as claimed in claim 1, it is characterised in that described pedestal (1) also includes four pull sensing
Device (1-1), (1-2), (1-3) and (1-4) and sensor stand (1-5)；Sensor stand (1-5) is arranged on base seat support (1-
6), on, described four pulling force sensors are arranged on sensor stand (1-5)；Described driving tendon J1, J2, J3 and J4 cause pedestal
(1) after, the most correspondingly through four pulling force sensors.
4. a kind of mechanical finger as claimed in claim 1, it is characterised in that rotary shaft (1-7), rotary shaft (2-3), rotary shaft
(3-9) rotational angle and angular velocity use encoder to measure.
5. a kind of mechanical finger as claimed in claim 1, it is characterised in that described remote finger joint (5) includes far referring to save housing (5-
1), six-dimension force sensor (5-2) and far finger joint lid (5-3)；Six-dimension force sensor is installed on and far refers to, on joint housing (5-1), use
In the stress measuring finger tip；Far refer to that joint lid (5-3) is installed on six-dimension force sensor (5-2) top, when finger grip object, hands
The stress referred to is through far referring to that joint lid (5-3) is transmitted to six-dimension force sensor (5-2).
6. a control method based on the mechanical finger described in claim 2, it is characterised in that apply driving tendon J1 and J2
The pulling force that size and Orientation is identical, also applies, to driving tendon J3 with J4, the pulling force that size and Orientation is identical；Control drive tendon J1 and
Making a concerted effort of pulling force suffered by J2 is the most different from drive pulling force suffered by tendon J3 and J4, then realize the finger side around rotary shaft (1-7)
Motion partially.
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| CN201610506996.2A CN106113024B (en) | 2016-06-30 | 2016-06-30 | A kind of three freedom degree manipulator of tendon-connecting rod mixed drive refers to and control method |
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| CN111633669A (en) * | 2019-03-01 | 2020-09-08 | 哈尔滨工业大学 | Modularized three-degree-of-freedom tendon rope transmission humanoid dexterous mechanical finger and control method |
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