CN106113024B - A kind of three freedom degree manipulator of tendon-connecting rod mixed drive refers to and control method - Google Patents
A kind of three freedom degree manipulator of tendon-connecting rod mixed drive refers to and control method Download PDFInfo
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- CN106113024B CN106113024B CN201610506996.2A CN201610506996A CN106113024B CN 106113024 B CN106113024 B CN 106113024B CN 201610506996 A CN201610506996 A CN 201610506996A CN 106113024 B CN106113024 B CN 106113024B
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- finger joint
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- finger
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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
- B25J9/10—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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
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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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- Robotics (AREA)
- Mechanical Engineering (AREA)
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Rheumatology (AREA)
- Manipulator (AREA)
Abstract
Refer to the invention discloses a kind of tendon-connecting rod mixed drive three freedom degree manipulator and control method, each joint of finger is driven with tendon driving method, the postposition of driving motor is can be realized, avoids the cloth centrally-mounted driving under the narrow space of finger；Driving force more higher than the traditional transmissions mode such as gear, chain, V belt translation can be provided under the limitation of identical structure size；Finger joint realizes the gearing of remote finger joint and middle finger joint by the remote finger joint of connecting rod coupling driving, so that having determining relative motion relation between remote finger joint and middle finger joint, the control in two joints in middle finger joint and remote finger joint is realized using a motor.Not only the crawl of finger had been realized, but also has saved driving motor quantity；The three degree of freedom such as bending expansion and the lateral deviation of finger are realized using four driving sources, which eliminates the strainer in tendon driving, simplify finger structure, reduce costs, improve reliability.
Description
Technical field
The invention belongs to Industrial Robot Technology fields, and in particular to a kind of Three Degree Of Freedom machine of tendon-connecting rod mixed drive
Tool finger and control method.
Background technique
Mechanical finger is the core component of manipulator, and manipulator is that industrial circle or space field implement crawl behaviour
The important executing agency made, manipulator are able to carry out accurate operation, dexterous manipulation, and completion is grasped, screwed, plugging, moving, being aligned
Deng typical operation, these operations are all representative in ground and space tasks.When mechanical finger is applied to industrial production
When with space environment, mechanical finger should as far as possible structure it is simple, it is stable and reliable for performance, with realize grasping manipulation needed for sensing
Device etc..
The driving method of mechanical finger is mostly based on motor direct-drive joint at present, and motor is placed in machinery in this kind of mode
Finger interior, due to being limited by finger space, motor volume is smaller, causes the grasp force of finger smaller；Manipulator at present
The sensor of finger also has Toe Transplantation for Segmental Finger to have fingertip force sensor, can measure in tendon driving finger based on position sensor
The finger of driving force is less；The present invention provides one kind can measure joint position, speed, finger tip power, tendon driving force function
Tendon-connecting rod combination drive mechanical finger, the driving motor of the finger are placed in outside, and the selection of driving motor is not by finger size
Limitation has many advantages, such as that sensor is abundant, structure is simple, finger tip power output is big, high reliablity, strong operability.
A kind of the five fingers manipulator of hydraulic-driven is devised in patent US8459711B2, the finger of the hand uses hydraulic drive
Dynamic, each finger tool there are three bending joint, between three joints using connecting rod forms coupled drive, and to form a bending free
Degree, the finger have the advantages that power output is big.It is less that the shortcomings that finger, shows as freedom degree, due to being hydraulic-driven therefore space
Environmental suitability is poor.
Summary of the invention
In view of this, referring to and controlling the object of the present invention is to provide a kind of tendon-connecting rod mixed drive three freedom degree manipulator
Method processed drives each joint motions of finger using driving tendon, and driving source is placed in outside finger, so that finger is provided with structure letter
Single, volume and the small feature of quality, multisensor make finger with a variety of sensing capabilities again, improve the controllable of finger
Property so that finger have the advanced control of realization needed for hardware foundation.
A kind of mechanical finger drives tendon J1, J2, J3, J4 and the pedestal (1) being sequentially connected, base finger joint including four
(2), nearly finger joint (3), middle finger joint (4) and remote finger joint (5)；
The pedestal (1) is the bracket of entire mechanical finger, pedestal (1), base finger joint (2), nearly finger joint (3), middle finger joint
(4) revolute pair is formed between adjacent two component of remote finger joint (5)；The remote finger joint (5) also uses between nearly finger joint (3)
Connecting rod is attached, to generate the coupled motions between remote finger joint (5) and middle finger joint (4)；Drive the one of tendon J1 and driving tendon J2
End is each attached on nearly finger joint (3), and the other end is respectively led at pedestal (1)；Driving tendon J1 and driving tendon J2 are respectively used to drive
Bending and expansion movement of the nearly finger joint (3) around base finger joint (2)；One end of driving tendon J3 and driving tendon J4 are each attached to middle finger joint
(4) on, the other end is respectively led at pedestal (1), and driving tendon J3 and driving tendon J4 are for driving middle finger joint (4) around nearly finger joint (3)
Bending and expansion movement.
Further, the 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) it is mounted on above and below on 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 coaxial from bottom to up to be installed on rotation
On axis (1-7), and it is installed on the inside of base seat support (1-6)；
The base finger joint (2) includes base finger joint shell (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 finger joint shell (2-1) through bearing (2-6)；Driving
Wheel (2-2), pulley 2-8 and 2-7 are installed on from right to left on rotary shaft (2-3), wherein driving wheel (2-2) and nearly finger joint shell
(3-3) is connected；Pulley (2-7) and (2-8) can be rotated around rotary shaft (2-3)；Before compact heap (2-4) is located at driving wheel (2-2)
Side, and be connected with nearly finger joint shell (3-3), for compressing the driving tendon J1 and driving the end of tendon J2；
The nearly finger joint (3) includes pulley (3-1) and (3-2), nearly finger joint shell (3-3), bearing (3-4), driving wheel (3-
5), compact heap (3-7), nearly finger joint lid (3-8), rotary shaft (3-9)；Pulley (3-1) and (3-2) is coaxial is installed on nearly finger joint shell
On (3-3), and it is located at the front side of pulley (2-7) and (2-8)；Rotary shaft (3-9) is installed on nearly finger joint shell through bearing (3-4)
On (3-3)；Driving wheel (3-5) is installed on the left side of middle finger joint shell (4-1), and is connected with it；Compact heap (3-7) is located at driving
The front side of (3-5) is taken turns, and is connected with middle finger joint shell (4-1)；Drive the end of tendon J3 and J4 through compact heap (3-7) and middle finger joint
Shell (4-1) connection；
The middle finger joint (4) includes middle finger joint shell (4-1), bearing (4-2), connecting rod (4-3) and rotary shaft (4-5)；
Rotary shaft (4-5) is installed on middle finger joint shell (4-1) through bearing (4-2), connecting rod one end (4-3) and nearly finger joint shell (3-3)
Connection, the other end are connect with remote finger joint shell 5-1, and connecting rod (4-3) makes middle finger joint shell (4-1) and nearly finger joint shell (3-3)
Movement exist coupling；Remote finger joint shell 5-1 can be rotated around rotary shaft (4-5) relative to middle finger joint shell (4-1)；
The driving tendon J1 bypasses driving wheel (2-2) lower edge, and successively divides on pulley (1-14) and pulley (1-10)
Not after a circle, lead on pedestal (1)；It drives tendon J2 to bypass the top edge driving wheel (2-2), and successively in pulley (1-17) and slides
It takes turns after being enclosed on (1-11) rotating around one, leads on pedestal (1)；Drive tendon J3 solid through compact heap (3-7) and nearly middle section shell (4-1)
Even, driving tendon J3 successively bypasses the top edge driving wheel (3-5), the top edge of pulley (3-2) lower edge and pulley (2-8), so
It is finally led on pedestal on pulley (1-16) around a circle afterwards；Drive tendon J4 through compact heap (3-7) and nearly middle section shell (4-1)
It being connected, driving tendon J4 successively bypasses driving wheel (3-5) lower edge, the top edge of pulley (3-1) lower edge and pulley (2-7),
Then it is finally led on pedestal (1) on pulley (1-15) around a circle.
Further, the pedestal (1) further includes four tension sensors (1-1), (1-2), (1-3) and (1-4) and passes
Sensor bracket (1-5)；Sensor stand (1-5) is mounted on base seat support (1-6), and four tension sensors are mounted on biography
On sensor bracket (1-5)；After described driving tendon J1, J2, J3 and J4 lead to pedestal (1), four drawings are passed through correspondingly respectively
Force snesor.
Further, rotary shaft (1-7), rotary shaft (2-3), the rotational angle of rotary shaft (3-9) and angular speed are using volume
Code device measurement.
Further, the remote finger joint (5) includes remote finger joint shell (5-1), six-dimension force sensor (5-2) and remote finger joint
It covers (5-3)；Six-dimension force sensor is installed on remote finger joint shell (5-1), for measuring the stress of finger tip；Remote finger joint lid (5-3)
It is installed at the top of six-dimension force sensor (5-2), when finger grip object, the stress of finger is transmitted to through remote finger joint lid (5-3)
Six-dimension force sensor (5-2).
A kind of control method of mechanical finger applies the identical pulling force of size and Orientation to driving tendon J1 and J2, to driving
Tendon J3 and J4 also apply the identical pulling force of size and Orientation；Control driving tendon J1 and J2 suffered by pulling force resultant force with driving tendon J3 and
The resultant force of pulling force suffered by J4 is different, then realizes that finger is moved around the lateral deviation of rotary shaft (1-7).
The invention has the following beneficial effects:
(1) present invention drives each joint of finger with tendon driving method, can be realized the postposition of driving motor, keeps away
Exempt from the cloth centrally-mounted driving under the narrow space of finger.
(2) present invention drives each joint of finger with tendon drive system, can limit in identical structure size
Under, driving force more higher than the traditional transmissions mode such as gear, chain, V belt translation is provided.
(3) middle finger joint of the present invention realizes the gearing of remote finger joint and middle finger joint by the remote finger joint of connecting rod coupling driving, so that
There is determining relative motion relation between remote finger joint and middle finger joint, realized two in middle finger joint and remote finger joint using a motor
The control in a joint.Not only the crawl of finger had been realized, but also has saved driving motor quantity.
(4) present invention uses four driving sources to realize the three degree of freedom such as bending expansion and the lateral deviation of finger, the driving side
Formula eliminates the strainer in tendon driving, simplifies finger structure, reduces costs, improves reliability.
(5) finger has the multiple sensors such as encoder, six-dimensional force, pulling force in the present invention, can position to finger, grab
Contact force is taken, the much informations such as driving motor driving force measure, these information all can serve as to control driving motor
The input quantity of system is the system of a Multi-sensor Fusion.
Detailed description of the invention
Fig. 1 is the mechanical finger with driving tendon J1, J2, J3 and J4 of the invention；
Fig. 2 is the mechanical finger with driving tendon J1 and J2 of the invention；
Fig. 3 is the mechanical finger with driving tendon J3 and J4 of the invention；
1- pedestal, 1-1,1-2,1-3 and 1-4- tension 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 finger joint, 2-1- base finger joint shell, 2-2,3-
5- driving wheel, 2-4,3-7- compact heap；
The nearly finger joint of 3-, the nearly finger joint shell of 3-3-, nearly finger joint lid 3-8；
4- middle finger joint, 4-1- middle finger joint shell, 4-3- connecting rod, 4-4- middle finger joint lid；
The remote finger joint of 5-, the remote finger joint shell of 5-1-, 5-2- six-dimension force sensor, the remote finger joint lid of 5-3-.
Specific embodiment
The present invention will now be described in detail with reference to the accompanying drawings and examples.
A kind of three freedom degree manipulator of tendon-connecting rod mixed drive refers to, as shown in Figs 1-4, by pedestal 1, base finger joint 2, close
Finger joint 3, middle finger joint 4, remote finger joint 5, driving tendon J1, J2, J3 and J4 composition.
The pedestal 1 includes tension sensor 1-1,1-2,1-3 and 1-4, sensor stand 1-5, base seat support 1-6, rotation
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.Tension sensor 1-1,1-2,1-3 and 1-4 are installed on sensor stand 1-5, sensor stand 1-5 and pedestal
Bracket 1-6 is connected；Pulley 1-10 and 1-11 arrange that Pivot axle of the rotary shaft 1-9 as the two, sleeve 1-12 covers above and below
On the outside of rotary shaft 1-9；Pulley 1-10 and 1-11 is installed on the inside of base seat support 1-6, pulley through rotary shaft 1-9 as a result,
1-10 and 1-11 can be rotated 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 coaxial from bottom to up to be installed on rotary shaft 1-7, and is installed on the inside of base seat support 1-6, can be around
Rotary shaft 1-7 rotation；Encoder 1-13 is for measuring the angle and angular speed that rotary shaft 1-7 is rotated.
The base finger joint 2 includes base finger joint shell 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 finger joint shell 2-1 through bearing 2-6；Driving wheel 2-2, encoder
2-5, pulley 2-7 and 2-8 are installed on from right to left on rotary shaft 2-3, wherein driving wheel 2-2 and nearly finger joint shell 3-3 is connected；
Pulley 2-7 and 2-8 can be rotated around rotary shaft 2-3；Compact heap 2-4 is located at the front side of driving wheel 2-2, and with nearly finger joint shell 3-3
It is connected, for compressing driving tendon J1 and driving the end of tendon J2.
The nearly finger joint 3 includes pulley 3-1 and 3-2, nearly finger joint shell 3-3, bearing 3-4, driving wheel 3-5, encoder 3-
6, compact heap 3-7, nearly finger joint lid 3-8, rotary shaft 3-9.Pulley 3-1 and 3-2 is coaxial to be installed on nearly finger joint shell 3-3, and position
In the front side of pulley 2-7 and 2-8；Rotary shaft 3-9 is installed on nearly finger joint shell 3-3 through bearing 3-4；Driving wheel 3-5, encoder
3-6 is installed on rotary shaft 3-9, and driving wheel 3-5 is installed on the left side of middle finger joint shell 4-1, and is connected with it；Compact heap 3-7
It is connected positioned at the front side of driving wheel 3-5, and with middle finger joint shell 4-1；Drive the end of tendon J3 and J4 through compact heap 3-7 and middle finger
Shell 4-1 connection is saved, nearly finger joint lid 3-8 is finger external packing structure, is installed on nearly finger joint shell 3-3.
The middle finger joint 4 includes middle finger joint shell 4-1, bearing 4-2, connecting rod 4-3, middle finger joint lid 4-4, rotary shaft 4-5.Rotation
Shaft 4-5 is installed on middle finger joint shell 4-1 through bearing 4-2, and the one end connecting rod 4-3 is connect with nearly finger joint shell 3-3, the other end with
Remote finger joint shell 5-1 connection, connecting rod 4-3 makes the movement of middle finger joint shell 4-1 and nearly finger joint shell 3-3 (finger tip), and there are couplings
It closes, is i.e. drives middle finger joint shell 4-1 to move simultaneously when nearly finger joint shell 3-3 is moved；Remote finger joint shell 5-1 can be around rotary shaft 4-5
It relatively rotates with middle finger joint shell 4-1；Middle finger joint lid 4-4 is the outer packing of finger, is installed on middle finger joint shell 4-1.
The remote finger joint 5 includes remote finger joint shell 5-1, six-dimension force sensor 5-2, remote finger joint lid 5-3.Six-dimension force sensor
It is installed on remote finger joint shell 5-1, for measuring the stress of finger tip；Remote finger joint lid 5-3 is installed on the top six-dimension force sensor 5-2
Portion, when finger grip object, the stress of finger is transmitted to six-dimension force sensor 5-2 through remote finger joint lid 5-3.
The end of driving the tendon J1 and J2 pass through compact heap 2-4 and are fixed on nearly finger joint shell 3-3, wherein driving
Tendon J1 bypass driving wheel 2-2 lower edge, and successively on pulley 1-14 and pulley 1-10 rotating around one circle after, lead to pedestal 1
On sensor stand 1-1.It drives tendon J2 to bypass the top edge driving wheel 2-2, and successively distinguishes on pulley 1-17 and pulley 1-11
After a circle, lead on the sensor stand 1-1 of pedestal 1.It drives tendon J3 to be connected through compact heap 3-7 and nearly middle section shell 4-1, drives
Dynamic tendon J3 successively bypasses the top edge driving wheel 3-5, the top edge of pulley 3-2 lower edge and pulley 2-8, then in pulley 1-
Around a circle on 16, finally lead on the sensor stand 1-3 of pedestal 1.Drive tendon J4 through compact heap 3-7 and nearly middle section shell 4-1
It is connected, driving tendon J4 successively bypasses driving wheel 3-5 lower edge, then the top edge of pulley 3-1 lower edge and pulley 2-7 exists
Around a circle on pulley 1-15, finally lead on the sensor stand 1-4 of pedestal 1.
Specific embodiment 1:
When driving tendon J1 when pulled, local inclination rotation, performance occur for nearly finger joint shell 3-3 and base finger joint shell 2-1
Bending motion for nearly finger joint shell 3-3 relative to base finger joint shell 2-1；
When driving tendon J2 when pulled, nearly finger joint shell 3-3 and base finger joint shell 2-1 occur to rotate relative to expansion, show
Expansion campaign for nearly finger joint shell 3-3 relative to base finger joint shell 2-1；When driving tendon J3 when pulled, middle finger joint shell 4-1
Local inclination rotation occurs with nearly finger joint shell 3-3, shows as bending of the middle finger joint shell 4-1 relative to nearly finger joint shell 3-3
Movement couples gearing due to passing through connecting rod 4-3 realization between middle finger joint shell 4-1 and remote finger joint shell 5-1, works as middle finger joint
When local inclination rotation occurring between shell 4-1 and nearly finger joint shell 3-3, remote finger joint shell 5-1 also can be simultaneously relative to middle finger
Section shell 4-1 bends rotation；When driving tendon J4 when pulled, middle finger joint shell 4-1 and nearly finger joint shell 3-3 occur relatively
Expansion rotation, shows as expansion campaign of the middle finger joint shell 4-1 relative to nearly finger joint shell 3-3, due to middle finger joint shell 4-1 and
Realize that coupling interlocks by connecting rod 4-3 between remote finger joint shell 5-1, thus when middle finger joint shell 4-1 and nearly finger joint shell 3-3 it
Between when opposite expansion occurs, also relative to middle finger joint shell 4-1 expansion movement can occur for remote finger joint shell 5-1 simultaneously.
Specific embodiment two: illustrate the present embodiment in conjunction with Fig. 1, Fig. 2.When driving tendon J1, J2 to be simultaneously pulled, base
Rotation around rotary shaft 1-7 generation relative to base seat support 1-6 is shown as finger along the pulling force around rotation by finger joint shell 2-1
The lateral deviation (clockwise direction lateral deviation) in the torque direction that axis 1-7 is generated；When driving tendon J3, J4 to be simultaneously pulled, base finger joint shell
Rotation around rotary shaft 1-7 generation relative to base seat support 1-6 is shown as finger and produced along the pulling force around rotary shaft 1-7 by body 2-1
The lateral deviation (counter clockwise direction lateral deviation) in raw torque direction.
Specific embodiment three: when finger is bent as described in specific embodiment one, two, is unfolded and when lateral deviation,
Middle finger joint shell 4-1 is measured relative to the rotational angle and velocity of rotation of nearly finger joint shell 3-3 by encoder 3-6；Nearly finger joint
Shell 3-3 is measured relative to the rotational angle and velocity of rotation of base finger joint shell 2-1 by encoder 2-5；Base finger joint shell 2-1
Rotational angle and velocity of rotation relative to base seat support 1-6 are measured by encoder 1-13；Drive the drive of tendon J1, J2, J3, J4
Dynamic pulling force is measured by tension sensor 1-1,1-2,1-3 and 1-4；The six-dimensional force being installed on remote finger joint shell 5-1 passes
Sensor 5-2 realizes the measurement to remote finger joint lid 5-3 and the contact forces for being grabbed object.The information of these sensor measurements is passed
To control system for realizing the motion control to finger.
In conclusion the above is merely preferred embodiments of the present invention, being not intended to limit the scope of the present invention.
All within the spirits and principles of the present invention, any modification, equivalent replacement, improvement and so on should be included in of the invention
Within protection scope.
Claims (6)
1. a kind of mechanical finger, which is characterized in that including four drive tendon J1, J2, J3, J4 and be sequentially connected pedestal (1),
Base finger joint (2), nearly finger joint (3), middle finger joint (4) and remote finger joint (5)；
The pedestal (1) be entire mechanical finger bracket, pedestal (1), base finger joint (2), nearly finger joint (3), middle finger joint (4), with
Revolute pair is formed between adjacent two component of remote finger joint (5)；The remote finger joint (5) also between nearly finger joint (3) using connecting rod into
Row connection, to generate the coupled motions between remote finger joint (5) and middle finger joint (4)；It drives tendon J1 and drives one end of tendon J2 solid
It is scheduled on nearly finger joint (3), the other end is respectively led at pedestal (1)；Driving tendon J1 and driving tendon J2 are respectively used to drive nearly finger joint
(3) around the bending of base finger joint (2) and expansion movement；One end of driving tendon J3 and driving tendon J4 are each attached on middle finger joint (4), separately
One end is respectively led at pedestal (1), driving tendon J3 and drive tendon J4 be used for drive middle finger joint (4) around nearly finger joint (3) bending and
Expansion movement.
2. a kind of mechanical finger as described in claim 1, which is characterized in that the pedestal (1) includes base seat support (1-6),
First rotary shaft (1-7), first bearing (1-8), the second rotary shaft (1-9), first pulley (1-10), second pulley (1-11),
Third pulley (1-14), the 4th pulley (1-15), the 5th pulley (1-16), the 6th pulley (1-17)；Wherein, first pulley (1-
10) it is mounted on the second rotary shaft (1-9) above and below with second pulley (1-11), is placed in the inside of base seat support (1-6)；The
One rotary shaft (1-7) is installed on base seat support (1-6) through first bearing (1-8), third pulley (1-14), the 4th pulley (1-
15), the 5th pulley (1-16) and the 6th pulley (1-17) is coaxial from bottom to up is installed on the first rotary shaft (1-7), and install
In the inside of base seat support (1-6)；
The base finger joint (2) includes base finger joint shell (2-1), and the first driving wheel (2-2), third rotary shaft (2-3), first compresses
Block (2-4), second bearing (2-6), the 7th pulley (2-7) and the 8th pulley (2-8)；Third rotary shaft (2-3) is through second bearing
(2-6) is installed on base finger joint shell (2-1)；First driving wheel (2-2), the 8th pulley (2-8) and the 7th pulley (2-7) are from the right side
It is installed on third rotary shaft (2-3) to a left side, wherein the first driving wheel (2-2) and nearly finger joint shell (3-3) are connected；7th is sliding
Wheel (2-7) and the 8th pulley (2-8) can be rotated around third rotary shaft (2-3)；First compact heap (2-4) is located at the first driving wheel
The front side of (2-2), and be connected with nearly finger joint shell (3-3), for compressing the driving tendon J1 and driving the end of tendon J2；
The nearly finger joint (3) includes the 9th pulley (3-1) and the tenth pulley (3-2), nearly finger joint shell (3-3), 3rd bearing (3-
4), the second driving wheel (3-5), the second compact heap (3-7), nearly finger joint lid (3-8), the 4th rotary shaft (3-9)；9th pulley (3-
1) and the tenth pulley (3-2) is coaxial is installed on nearly finger joint shell (3-3), and is located at the 7th pulley (2-7) and the 8th pulley (2-
8) front side；4th rotary shaft (3-9) is installed on nearly finger joint shell (3-3) through 3rd bearing (3-4)；Second driving wheel (3-
5) it is installed on the left side of middle finger joint shell (4-1), and is connected with it；Second compact heap (3-7) is located at the second driving wheel (3-5)
Front side, and be connected with middle finger joint shell (4-1)；Drive the second compact heap of end (3-7) and middle finger joint shell of tendon J3 and J4
(4-1) connection；
The middle finger joint (4) includes middle finger joint shell (4-1), fourth bearing (4-2), connecting rod (4-3) and the 5th rotary shaft (4-
5)；5th rotary shaft (4-5) is installed on middle finger joint shell (4-1) through fourth bearing (4-2), connecting rod one end (4-3) and closely finger
Shell (3-3) connection is saved, the other end is connect with remote finger joint shell (5-1), and connecting rod (4-3) makes middle finger joint shell (4-1) and close
There is coupling in the movement of finger joint shell (3-3)；Remote finger joint shell (5-1) can be around the 5th rotary shaft (4-5) relative to middle finger joint shell
Body (4-1) rotation；
The driving tendon J1 bypasses the first driving wheel (2-2) lower edge, and successively in third pulley (1-14) and first pulley (1-
10) it after being enclosed on rotating around one, leads on pedestal (1)；Tendon J2 is driven to bypass the top edge the first driving wheel (2-2), and successively the
After being enclosed on six pulleys (1-17) and second pulley (1-11) rotating around one, lead on pedestal (1)；Drive tendon J3 through the second compact heap
(3-7) and nearly middle section shell (4-1) are connected, and driving tendon J3 successively bypasses the top edge the second driving wheel (3-5), the tenth pulley (3-
2) top edge of lower edge and the 8th pulley (2-8) then finally leads to pedestal around a circle on the 5th pulley (1-16)
(1) on；Tendon J4 is driven to be connected through the second compact heap (3-7) and nearly middle section shell (4-1), driving tendon J4 successively bypasses the second driving
Take turns (3-5) lower edge, the top edge of the 9th pulley (3-1) lower edge and the 7th pulley (2-7), then in the 4th pulley (1-
15) it around a circle on, finally leads on pedestal (1).
3. a kind of mechanical finger as described in claim 1, which is characterized in that the pedestal (1) further includes four pull sensing
Device and sensor stand (1-5), sensor stand (1-5) are mounted on base seat support (1-6), four tension sensors peace
On sensor stand (1-5)；After described driving tendon J1, J2, J3 and J4 lead to pedestal (1), pass through correspondingly respectively
Four tension sensors.
4. a kind of mechanical finger as claimed in claim 2, which is characterized in that the first rotary shaft (1-7), third rotary shaft (2-
3), the rotational angle and angular speed of the 4th rotary shaft (3-9) are measured using encoder.
5. a kind of mechanical finger as described in claim 1, which is characterized in that the remote finger joint (5) includes remote finger joint shell (5-
1), six-dimension force sensor (5-2) and remote finger joint lid (5-3)；Six-dimension force sensor is installed on remote finger joint shell (5-1), is used
In the stress of measurement finger tip；Remote finger joint lid (5-3) is installed at the top of six-dimension force sensor (5-2), when finger grip object, hand
The stress of finger is transmitted to six-dimension force sensor (5-2) through remote finger joint lid (5-3).
6. a kind of control method based on mechanical finger as claimed in claim 2, which is characterized in that apply to driving tendon J1 and J2
The identical pulling force of size and Orientation also applies the identical pulling force of size and Orientation to driving tendon J3 and J4；Control driving tendon J1 and
The resultant force of pulling force suffered by J2 is different from the resultant force of pulling force suffered by driving tendon J3 and J4, then realizes finger around the first rotary shaft (1-7)
Lateral deviation movement.
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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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| 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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| CN106113024B true CN106113024B (en) | 2018-12-14 |
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| CN108621144A (en) * | 2018-04-26 | 2018-10-09 | 北京空间飞行器总体设计部 | A kind of multiple degrees of freedom of tendon-connecting rod mixed drive refers to formula manipulator |
| CN109453026B (en) * | 2018-12-12 | 2020-12-04 | 漯河医学高等专科学校 | Preparation device and preparation method of traditional Chinese medicine composition for treating lupus erythematosus |
| CN111633669B (en) * | 2019-03-01 | 2022-05-13 | 哈尔滨工业大学 | Modularized three-degree-of-freedom tendon rope transmission humanoid dexterous mechanical finger and control method |
| CN111557770A (en) * | 2020-05-27 | 2020-08-21 | 苏州通和景润康复科技有限公司 | Under-actuated artificial limb hand device |
| CN111994541B (en) * | 2020-09-16 | 2021-11-05 | 苏州星科智达智能科技有限公司 | Six-dimensional driving medicine taking manipulator mechanism |
| CN114944792B (en) * | 2022-06-21 | 2024-08-20 | 哈尔滨工业大学 | Small-size-driven built-in three-degree-of-freedom artificial finger |
| CN118269127A (en) * | 2024-05-23 | 2024-07-02 | 中国科学院自动化研究所 | Universal humanoid five-finger dexterous hand |
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| CN100513097C (en) * | 2007-07-31 | 2009-07-15 | 哈尔滨工业大学 | Robot clever hand modular finger |
| CN101444918B (en) * | 2008-12-26 | 2010-09-29 | 清华大学 | Under-actuated bionic finger device with function of pre-bending grasping |
| CN101693372B (en) * | 2009-07-06 | 2011-01-05 | 清华大学 | Connecting rod slider-type under-actuated robot finger device with changeable grasping force |
| US9446513B2 (en) * | 2014-08-25 | 2016-09-20 | Paul Ekas | Robotic grippers including finger webbing for improved grasping |
| CN104586608B (en) * | 2015-02-05 | 2017-04-05 | 华南理工大学 | The wearable power-assisted finger controlled based on myoelectricity and its control method |
| CN105364935B (en) * | 2015-12-08 | 2017-01-25 | 哈尔滨工业大学 | Three-finger three-degree-of-freedom configuration robot gripper |
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