CN114102643A - Design method of under-actuated humanoid robot claw and other fingers - Google Patents
Design method of under-actuated humanoid robot claw and other fingers Download PDFInfo
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- CN114102643A CN114102643A CN202111477636.1A CN202111477636A CN114102643A CN 114102643 A CN114102643 A CN 114102643A CN 202111477636 A CN202111477636 A CN 202111477636A CN 114102643 A CN114102643 A CN 114102643A
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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 discloses a design method of an under-actuated humanoid robot paw and other fingers, the robot paw designs a lateral swing joint of a thumb for the thumb, realizes the common grabbing function of the hand by less driving devices, and can carry out complex grabbing operation; the finger part of the invention adopts a single-degree-of-freedom multi-link mechanism, and the driving device is positioned at the palm part, so that the arrangement of the under-actuated motion scheme is more reasonable, the finger volume is smaller, and a larger sensor arrangement space is provided; the fingertip pressure sensor is arranged in the paw, the pressure is detected through the movable lower shell of the distal segment, and compared with the traditional arrangement scheme of being attached to the surface, the fingertip pressure sensor is larger in detection area and higher in reliability.
Description
Technical Field
The invention belongs to the field of robots, and particularly relates to a design method of an under-actuated humanoid robot claw and other fingers.
Background
With the continuous development of the related fields of robots, the related fields of humanoid robots are concerned more and more, and the humanoid paw is taken as an important ring, so that the humanoid paw has a very wide application scene. In the industrial aspect, the humanoid dexterous hand can replace the traditional clamping jaw to execute more complex tasks; in the aspect of service guide, the service robot with the humanoid paw is more humanoid in appearance, can perform various gesture actions, and is more beneficial to interaction; in the field of rehabilitation medicine, the high-performance prosthetic hand can help amputees to perform grabbing tasks in daily life, and has social value and commercial potential.
For the robot paw, the driving device can be divided into a driving built-in part and a driving built-out part according to the position where the driving device is placed. The size of the finger can be reduced remarkably by arranging the driver outside the paw and driving the finger by means of a tendon rope and the like, but the paw is required to comprise an arm part and has poor universality; and all driving devices of the paw arranged in the driver are arranged in the paw, and can be directly loaded on carriers such as a universal mechanical arm and the like, so that the universal manipulator has better universality.
Meanwhile, the number of drivers of different paws has a lot of differences, and different paws have respective suitable application scenes due to the difference of the number of the drivers. The gripper hand developed by british robot corporation has over twenty drives which are complex and bulky but can perform very complex hand movements; the X-hand developed by the university of science and technology group in China has 16 joints and 4 drivers in the whole hand, and has compact structure and strong universality.
The flexible multi-degree-of-freedom humanoid dexterous manipulator disclosed in the Chinese patent No. CN111496830A has 21 degrees of freedom and 16 driving devices, and the fingers are driven to move by a motor arranged in a paw. The gripper is relatively flexible and has more degrees of freedom, but the motor needs to be locked up for a long time in the grabbing process, the energy consumption can be correspondingly increased, the number of drivers is more, and the control difficulty is increased.
The human-simulated mobile manipulator disclosed in the Chinese patent No. CN111469156A is composed of four fingers and a thumb, the joints of the four fingers and the thumb are hinged, the four fingers and the thumb are driven by a cable through an air bag, the manipulator has certain flexibility, and the effect of bending the fingers can be realized.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a design method of an under-actuated humanoid robot paw and other fingers, the paw has strong grabbing adaptability, and meanwhile, a self-locking transmission scheme is adopted, so that the energy consumption of the device is reduced.
The purpose of the invention is realized by the following technical scheme:
an under-actuated humanoid robot paw comprises a thumb, N other fingers and a palm connecting the thumb and the N other fingers, wherein N is 2, 3 or 4;
the thumb comprises a thumb base, a thumb proximal joint seat, a thumb distal joint seat, a thumb lateral swing driving device, a thumb proximal joint driving device and a thumb distal joint driving device; the thumb base is fixedly connected with the palm, the proximal thumb joint seat is rotatably connected with the thumb base, and the distal thumb joint seat is rotatably connected with the proximal thumb joint seat; the thumb lateral swing driving device is arranged on the thumb and drives the whole thumb to swing laterally; the thumb proximal joint driving device drives the thumb proximal joint seat and the thumb distal joint seat to do flexion movement, and the thumb distal joint driving device drives the thumb distal joint seat to do flexion movement;
the other fingers have the same structure and comprise finger bases, finger driving devices, finger proximal connecting rods, finger middle connecting rods, finger distal connecting rods, middle transmission frames and middle distal transmission frames; the finger driving device is arranged on the finger base, the finger base is rotationally connected with the proximal finger connecting rod, the proximal finger connecting rod is rotationally connected with the middle finger connecting rod, and the middle finger connecting rod is rotationally connected with the distal finger connecting rod; the middle section transmission frame is respectively and rotatably connected with the finger base and the middle section connecting rod, and the middle and far section transmission frame is respectively and rotatably connected with the proximal section connecting rod and the distal section connecting rod; the finger driving device drives one end of the proximal finger connecting rod to rotate, and then drives the middle finger connecting rod and the distal finger connecting rod to rotate according to the constraint between the rods.
Furthermore, the thumb side swing driving device, the thumb proximal joint driving device, the thumb distal joint driving device and the finger driving device all comprise worm and gear transmission or screw rod transmission, so that self-locking is realized.
Furthermore, the included angle between the rotating shaft of the side swing joint of the thumb and the moving plane of the forefinger is-5-25 degrees, and the included angle between the rotating shaft of the side swing joint and the plane of the palm is-5-30 degrees.
Furthermore, the included angle between the rotating shaft of the side swing joint of the thumb and the moving plane of the forefinger is 10 degrees, and the included angle between the rotating shaft of the side swing joint and the palm plane is 15 degrees.
Further, a protective shell is mounted outside each knuckle connecting rod of the palm, the thumb and the N other fingers.
Furthermore, a pressure sensor is arranged between the thumb distal joint seat and the protective shell of the thumb distal joint seat, and pressure sensors are also arranged between the finger distal joint connecting rods of other fingers and the corresponding protective shells.
Further, the pressure sensor is a piezoresistive thin film sensor, a capacitive thin film sensor or a strain gauge type pressure sensor.
A method for designing other fingers in the under-actuated humanoid robot paw comprises the following steps:
the method comprises the following steps: determining the total length of the fingers according to the design requirements of the paw, wherein the length of the fingers usually accounts for 45% -50% of the length of the whole hand;
step two: determining the lengths of the proximal finger section connecting rod, the middle finger section connecting rod and the distal finger section connecting rod according to the diameter of the fingers and the thickness of the palm; the total length of the finger consists of a proximal finger connecting rod, a middle finger connecting rod and a distal finger connecting rod, a rotating connecting point of a finger base and the proximal finger connecting rod is defined as C, a rotating connecting point of the finger base and a middle finger transmission frame is defined as D, a rotating connecting point of the middle finger transmission frame and the middle finger connecting rod is defined as E, a rotating connecting point of the proximal finger connecting rod and the middle finger connecting rod is defined as F, a rotating connecting point of the middle distal finger transmission frame and the proximal finger connecting rod is defined as G, a rotating connecting point of the middle distal transmission frame and the distal finger connecting rod is defined as H, and a rotating connecting point of the middle finger connecting rod and the distal finger connecting rod is defined as I; the end point of the distal connecting rod is J, and the length relation of the connecting rods meets the following formula:
wherein lCJIs the total length of the finger, /)CFFor the length of the proximal-to-finger link, /)FIFor the length of the middle-finger link, /)IJFor the length of the distal-finger link, dpThickness of palm, dfIs the diameter of the finger;
step three: and if the upper limit position of the corner of the proximal connecting rod is a horizontal position and the rotation angle of the proximal connecting rod is theta, the included angles of other connecting rods meet the following relation:
wherein the rod lHI、lGF、lCD、lEFShould satisfy at the same time
Step four: and calculating and selecting proper length and angle of the connecting rod according to requirements, calculating or drawing the horizontal initial positions of CF, FI and IJ to obtain the lengths of GH and DE of the rods, and completing finger design of other fingers.
The invention has the following beneficial effects:
1. the robot paw is provided with the joint arrangement according to the grabbing posture of the hand, the side swing joint of the thumb is designed, the common grabbing function of the hand is realized by a small number of driving devices, and complex grabbing operation can be carried out.
2. All driving devices of the gripper are self-locked, and the driving devices do not need to work continuously after the gripper grabs an object, so that the energy consumption of the gripper of the robot is reduced.
3. The finger part of the invention adopts a single-degree-of-freedom multi-link mechanism, and the driving device is positioned at the palm part, so that the arrangement of the under-actuated motion scheme is more reasonable, the finger volume is smaller, and the sensor arrangement space is larger.
4. The fingertip pressure sensor is arranged in the paw, the pressure is detected through the movable lower shell of the distal segment, and compared with the traditional arrangement scheme of being attached to the surface, the fingertip pressure sensor is larger in detection area and higher in reliability.
Drawings
FIG. 1 is a schematic diagram of the overall structure of an under-actuated humanoid robot paw;
FIG. 2 is a view of the entire structure of a robot gripper with the outer shell removed;
FIG. 3 is a bottom view of the overall structure of the robot gripper with the outer shell removed;
FIG. 4 is a side view of the overall structure of the robot gripper with the outer shell removed;
FIG. 5 is a block diagram of other fingers and their drive means;
FIG. 6 is a block diagram of finger base 206;
FIG. 7 is a schematic structural view of proximal connecting rod 201;
FIG. 8 is an exploded view of the structure of the fingertip and sensor;
FIG. 9 is a first block diagram of the thumb and its actuator;
FIG. 10 is a second view of the thumb and its actuator;
FIG. 11 is a schematic view of the assembly of thumb base 301 and thumb connecting seat 314;
FIG. 12 is a schematic view of the thumb base 301;
FIG. 13 is a simplified structure point diagram of other fingers;
FIG. 14 is a simplified structural schematic of another finger;
fig. 15 is a schematic view of a gripping pose of a robot gripper, wherein (a) is a schematic view of a three-finger lateral pinching pose; (b) is a schematic diagram of a transverse pinching gesture; (c) is a schematic diagram of a three-finger pinching gesture; (d) is a schematic view of the cylindrical gripping posture.
In the figure, a palm 100, other fingers 200, a thumb 300, a proximal finger link 201, a middle finger link 202, a distal finger link 203, a middle finger transmission frame 204, a middle distal finger transmission frame 205, a finger base 206, a finger driving motor 207, a first worm 208, a double-layer gear 209, a first connecting shaft 210, a second connecting shaft 211, a third connecting shaft 212, a fourth connecting shaft 213, a fifth connecting shaft 214, a sixth connecting shaft 215, a seventh connecting shaft 216, an eighth connecting shaft 217, an upper distal finger cover 218, a half-tooth screw 219, a pressure sensor 220, a lower distal finger cover 221, a set screw 222, and a cylindrical distal finger link guide groove 2031.
The device comprises a thumb base 301, a thumb proximal joint speed reducing motor 302, a second worm 303, a second worm wheel 304, a thumb distal joint worm wheel and worm speed reducing motor 305, a thumb proximal joint seat 306, a thumb distal joint seat 307, a thumb buckling rotating shaft I308, a thumb buckling rotating shaft II 309, a thumb lateral swing driving motor 310, a third worm wheel 311, a third worm 312, a thumb lateral swing rotating shaft 313 and a thumb connecting seat 314.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings and preferred embodiments, and the objects and effects of the present invention will become more apparent, it being understood that the specific embodiments described herein are merely illustrative of the present invention and are not intended to limit the present invention.
Referring to fig. 1, an overall structure of a paw is shown, and an under-actuated humanoid robot paw of the present embodiment includes other fingers 200, a thumb 300, and a palm 100 connecting the fingers; the paw comprises 1 palm 100, 1 thumb 300 and N other fingers 200; wherein N is 2, 3 or 4; the structure of the robot gripper after removing the covering member such as the housing is shown in fig. 2. The modular design of the index finger, the middle finger and the little finger as fingers has basically the same structure, the fingers are connected through screws, the number of the fingers can be increased or decreased on the basis according to the operation requirement, and the fingers can be composed of a thumb, an index finger and a middle finger or a thumb, an index finger, a middle finger and a little finger or a thumb, an index finger, a middle finger, a ring finger and a little finger.
The paw comprises N +3 driving devices, namely N finger driving devices, 1 thumb side swing driving device, 1 thumb proximal driving device and 1 thumb distal driving device. Particularly, in order to expand the gripping posture of the mechanical paw and simplify the paw structure, the manipulator is optimized on the basis of the bionic structure of the human hand, and a lateral swing joint is arranged between the thumb and the palm and is driven by a thumb lateral swing driving device. The thumb side swing driving device is arranged on the thumb 300 and can drive the whole thumb 300 to rotate around the side swing rotating shaft, and the intersection angle of the motion plane of the thumb 300 and the motion planes of other fingers can be changed through the driving device, so that different grasping requirements are met.
The side swing of the hand claw is driven, the included angle alpha between the rotating shaft of the side swing joint and the moving plane of the forefinger is-5-25 degrees, preferably 10 degrees, and the included angle beta between the rotating shaft of the side swing joint and the plane of the palm is-5-30 degrees, preferably 15 degrees, as shown in figures 3 and 4.
As shown in fig. 5 to 8, the other fingers 200 have the same structure, and each finger includes a proximal finger link 201, a middle finger link 202, a distal finger link 203, a middle finger transmission frame 204, a middle distal transmission frame 205, a finger base 206, a finger driving motor 207, a first worm 208, a double-layer gear 209, a first connecting shaft 210, a second connecting shaft 211, a third connecting shaft 212, a fourth connecting shaft 213, a fifth connecting shaft 214, a sixth connecting shaft 215, a seventh connecting shaft 216, an eighth connecting shaft 217, a distal upper cover 218, a half-tooth screw 219, a pressure sensor 220, a distal lower cover 221, and the like; wherein, the finger base 206 is shown in fig. 6, and the proximal connecting rod 201 is shown in fig. 7.
The other fingers 200 are driven to move by a speed reducing motor 207, the speed reducing motor 207 is fixedly connected with the finger base 206, and the output end of the speed reducing motor 207 is connected with a worm 208; the double-layer gear 209 is installed on the base 206 through a first connecting shaft 210 and can rotate around the first connecting shaft 210 under the driving of the worm 208, and the proximal connecting rod 201 is installed on the base 206 through a second connecting shaft 211; one end of the proximal connecting rod 201 is provided with teeth and meshed with the other gear in the double-layer gear 209, and the proximal connecting rod 201 rotates around the second connecting shaft 211 under the driving of the double-layer gear 209.
In the above, the finger base 206 and the proximal finger link 201 are rotatably connected through the second connecting shaft 211, the proximal finger link 201 and the middle finger link 202 are rotatably connected through the fifth connecting shaft 214, and the middle finger link 202 and the distal finger link 203 are rotatably connected through the eighth connecting shaft 217; one end of the middle section transmission frame 204 is rotatably connected with the finger base 102 through a third connecting shaft 212, the other end of the middle section transmission frame is rotatably connected with the middle finger section connecting rod 202 through a fourth connecting shaft 213, one end of the middle long section transmission frame 205 is rotatably connected with the proximal finger section connecting rod 201 through a sixth connecting shaft 215, and the other end of the middle long section transmission frame is rotatably connected with the distal finger section connecting rod 203 through a seventh connecting shaft 216.
The motor 207 drives the first worm 208 to rotate, so that the double-layer gear 209 is driven to rotate, one end of the proximal finger connecting rod 201 rotates due to the fact that the proximal finger connecting rod 201 is meshed with the double-layer gear 105, the middle finger connecting rod 202 and the distal finger connecting rod 203 are driven to rotate according to the constraint between the rods, and power output is achieved.
In order to achieve force sensing capability during paw grasping, the distal segments of the other fingers 200 and thumb 300 are equipped with pressure sensors. Referring to fig. 8, taking other fingers as an example for explanation, the pressure sensor 220 is installed under the distal-section link 203, wherein the fastening screw 222 is fixedly connected with the distal-section lower cover 221, the distal-section link 203 is slidably connected with the half-thread screw 219, and one end of the pressure sensor 220 is in contact with the distal-section link 203 and the other end is in contact with the distal-section lower cover 221. When the distal-segment lower cover 221 is in contact with an object and is stressed, the distal-segment lower cover 221 and the half-tooth screw 219 integrally move slightly along the cylindrical guide groove 2031 of the distal-segment connecting rod, so that the pressure sensor 220 is pressed to realize fingertip force measurement. Compared with a method of attaching the pressure sensor to the surface, the embodiment avoids the problem of signal loss caused by the fact that an object does not contact the effective area of the sensor during grasping, and the detection area is larger and the reliability is higher.
Optionally, the pressure sensor 220 is a piezoresistive thin film sensor, a capacitive thin film sensor, or a strain gauge pressure sensor. Preferably, the pressure sensor 220 can be a piezoresistive thin film sensor, the piezoresistive thin film sensor adopts a printing process to fix a sensitive material on a flexible thin film substrate, and the resistance of the sensor decreases along with the increase of pressure, so that the piezoresistive thin film sensor has the characteristics of small volume and easy signal acquisition.
Referring to fig. 9 to 12, in general, the thumb 300 includes a thumb base 301, a thumb proximal reduction motor 302, a second worm 303, a second worm wheel 304, a thumb distal reduction motor 305, a thumb proximal seat 306, a thumb distal seat 307, a thumb flexion spindle one 308, a thumb flexion spindle two 309, a thumb lateral swing driving motor 310, a third worm wheel 311, a third worm 312, a thumb lateral swing spindle 313, a thumb connection seat 314, and the like.
The thumb connecting seat 314 is fixedly connected with the palm 100, a thumb side swing rotating shaft 313 is arranged on the thumb connecting seat 314, a third worm wheel 311 is arranged on the thumb side swing rotating shaft 313, and the thumb base 301 is rotatably connected with the thumb connecting seat 314 through the thumb side swing rotating shaft 313, as shown in fig. 11 and 12; the thumb base 301 is provided with a thumb side swing driving motor 310, and the whole thumb 300 is driven to swing laterally through a third worm wheel 311 and a third worm 312.
The thumb base 301 is rotatably connected with the thumb distal joint seat 307, the thumb proximal joint speed reducing motor 302 is arranged on the thumb base 301, and the thumb proximal joint is driven to move through the second worm 303 and the second worm wheel 304; the thumb distal joint seat 307 is rotatably connected with the thumb proximal joint seat 306, and the thumb distal joint is driven to move by the thumb distal worm gear and worm reduction motor 305.
In the above, the thumb 300 is driven by the thumb lateral swing driving motor 310, so that the thumb 300 integrally rotates around the lateral swing rotating shaft, the thumb proximal joint seat is driven by the thumb proximal joint speed reducing motor 302 to perform flexion movement, the thumb distal joint is driven by the thumb distal joint worm and gear speed reducing motor 305 to perform flexion movement, and the relative movement of the other fingers 200 and the thumb 300 realizes the change of the gripping posture.
The design optimization method of the finger connecting rod provided by the invention can quickly and conveniently design a finger under-actuated rod group, has better stress condition, simultaneously links each joint in an approximate 1:1 relation, and comprises the following steps:
step one, determining the total length of the finger. Firstly, the total length of the fingers is determined according to the actual use scene and the actual requirement of the paw. In general, the larger the load of the paw, the larger the overall dimension, and the finger of the human-simulated paw usually occupies 45% -50% of the length of the whole hand, and the finger length of this embodiment is 80 mm.
Secondly, determining the lengths of the proximal finger connecting rod 201, the middle finger connecting rod 202 and the distal finger connecting rod 203 according to the diameter of the fingers and the thickness of the palm; wherein, the total length of the finger is composed of a proximal finger link 201, a middle finger link 202 and a distal finger link 203, as shown in fig. 13, it is defined that the rotational connection point of the finger base 102 and the proximal finger link 201 is C, the rotational connection point of the finger base 102 and the middle finger transmission frame 204 is D, the rotational connection point of the middle finger transmission frame 204 and the middle finger link 202 is E, the rotational connection point of the proximal finger link 201 and the middle finger link 202 is F, the rotational connection point of the middle distal finger transmission frame 205 and the proximal finger link 201 is G, the rotational connection point of the middle distal finger transmission frame 205 and the distal finger link 203 is H, and the rotational connection point of the middle finger link 202 and the distal finger link 203 is I; the end point of the distal link 203 is J, and the length relationship of the links satisfies the following formula:
wherein lCJTotal length of finger, /)CFIs the length of the proximal link, /)FILength of the middle link, /)IJFor a length of a distal link, dpThickness of palm, dfIs the finger diameter. In this embodiment, the total finger length is determined by the motor and structure to be 80mm, dpIs 24mm, dfThe length of the proximal connecting rod 201 is 40mm, the length of the middle connecting rod 202 is 23mm, and the length of the distal connecting rod 203 is 17mm, which are obtained from the above formula.
And step three, determining the initial included angle and other rod lengths of each connecting rod. As shown in fig. 14, the included angles ≤ xCD, < EFI, < CFG, and < HIJ of the finger link structure are different according to different ranges of the working angles of the fingers. When the upper limit position of the proximal joint rotation angle of the finger is horizontal and the total stroke is theta (positive value), in order to ensure reasonable stress condition, the included angle of each joint is preferably selected by adopting the following relation.
Wherein the rod lHI、lGF、lCD、lEFShould satisfy at the same time
And step four, calculating and selecting proper connecting rod length and angle according to requirements, and calculating or drawing to obtain the lengths of the rods GH and DE according to the horizontal initial positions of CF, FI and IJ.
In this embodiment, when the reduction motor 207 rotates, the three joints between the finger base 102, the proximal finger link 201, the middle finger link 202, and the distal finger link 203 all rotate, the finger proximal joint angle stroke θ is 90 °, < xCD is 135 °, < EFI is 135 °, < CFG is 67.5 °, < HIJ is 157.5 °, and HI ═ GF ═ EF ═ CD ═ 8 mm.
The length of the rods GH and DE can be obtained by calculating or drawing the initial position of the CF, FI and IJ level. Wherein the middle section transmission frame 204 is 41.57mm long, and the middle section transmission frame 205 is 21.4mm long. Calculated, at this time, the joint thetaFI、θIJThe angles are as follows.
Wherein, thetaCFTo indicate the angle of rotation of the proximal link, thetaFITo indicate the angle of rotation of the middle link, thetaIJFor the knuckle connecting rod corner, each joint corner is approximately 1: the relation 1. The under-actuated coupling method is adopted, so that the flexibility of fingers is reduced, the gripping influence on the paw is small, the number of paw drivers is reduced, and the paw structure is more compact.
In this example, the included angle alpha between the rotation shaft of the side swing joint and the movement plane of the index finger is 10 degrees, the included angle beta between the rotation shaft of the side swing joint and the palm plane is 15 degrees, and the complex grasping application is realized through the angle of the side swing joint and the movement of each joint of the fingers. As shown in fig. 15, the robot gripper can complete the gripping postures of most human hands such as three-finger side pinching, transverse pinching, three-finger pinching, cylindrical gripping and the like.
The transmission links of the N +3 driving devices of the gripper comprise one or more combinations of self-locking transmission links such as worm and gear transmission, screw rod transmission and the like. When the gripper picks a task, when the gripper catches an object and keeps the gripping state for a long time, the self-locking link in the transmission link ensures that the motor keeps the gripping state of the gripper under the condition of not exerting force, thereby greatly reducing the power consumption of the motor and reducing the heating of the motor.
In the above embodiments, when the terms "connected" or "disposed" or "mounted" in the structural configuration are used, it means that one element may be directly connected to another element or intervening elements may be present.
It will be understood by those skilled in the art that the foregoing is only a preferred embodiment of the present invention, and is not intended to limit the invention, and although the invention has been described in detail with reference to the foregoing examples, it will be apparent to those skilled in the art that various changes in the form and details of the embodiments may be made and equivalents may be substituted for elements thereof. All modifications, equivalents and the like which come within the spirit and principle of the invention are intended to be included within the scope of the invention.
Claims (8)
1. An under-actuated humanoid robot paw, characterized in that, the paw includes a thumb (300), N other fingers (200), and a palm (100) connecting the thumb (300) and the N other fingers (200), N is 2, 3 or 4;
the thumb (300) comprises a thumb base (301), a thumb proximal joint seat, a thumb distal joint seat, a thumb lateral swing driving device, a thumb proximal joint driving device and a thumb distal joint driving device; the thumb base (301) is fixedly connected with the palm (100), the thumb proximal joint seat is rotatably connected with the thumb base (301), and the thumb distal joint seat is rotatably connected with the thumb proximal joint seat; the thumb lateral swing driving device is arranged on the thumb (300) and drives the whole thumb (300) to swing laterally; the thumb proximal joint driving device drives the thumb proximal joint seat and the thumb distal joint seat to do flexion movement, and the thumb distal joint driving device drives the thumb distal joint seat to do flexion movement;
the other fingers (200) have the same structure and comprise finger bases (206), finger driving devices, finger proximal connecting rods (201), finger middle connecting rods (202), finger distal connecting rods (203), middle transmission frames (204) and middle and distal transmission frames (205); the finger driving device is arranged on a finger base (206), the finger base (206) is rotationally connected with a proximal finger connecting rod (201), the proximal finger connecting rod (201) is rotationally connected with a middle finger connecting rod (202), and the middle finger connecting rod (202) is rotationally connected with a distal finger connecting rod (203); the middle section transmission frame (204) is respectively and rotatably connected with the finger base (102) and the middle section connecting rod (202), and the middle and far section transmission frame (205) is respectively and rotatably connected with the near section connecting rod (201) and the far section connecting rod (203); the finger driving device drives one end of the proximal finger connecting rod (201) to rotate, and then drives the middle finger connecting rod (202) and the distal finger connecting rod (203) to rotate according to the constraint between the rods.
2. The under-actuated humanoid robot paw as recited in claim 1, wherein the thumb lateral swing driving device, the thumb proximal joint driving device, the thumb distal joint driving device and the finger driving device all comprise worm gear transmission or screw rod transmission, so as to realize self-locking.
3. The under-actuated humanoid robot hand claw of claim 1, wherein an included angle between a side swing joint rotating shaft of a thumb and a moving plane of an index finger is-5 degrees to 25 degrees, and an included angle between the side swing rotating shaft and a palm plane is-5 degrees to 30 degrees.
4. The under-actuated humanoid robot paw as recited in claim 3, wherein the included angle between the rotation axis of the lateral swing joint of the thumb and the movement plane of the forefinger is 10 °, and the included angle between the rotation axis of the lateral swing joint and the palm plane is 15 °.
5. The under-actuated humanoid robot hand of claim 1, characterized in that a protective shell is mounted externally to each knuckle link of the palm (100), thumb (300) and N other fingers (200).
6. The under-actuated humanoid robot paw as recited in claim 1, characterized in that a pressure sensor is arranged between the thumb distal joint seat and the protective shell of the thumb distal joint seat, and a pressure sensor is arranged between the finger distal joint connecting rod (203) of the other finger (200) and the corresponding protective shell.
7. The under-actuated humanoid robot gripper of claim 6, wherein the pressure sensor is a piezoresistive thin film sensor, a capacitive thin film sensor, or a strain gauge pressure sensor.
8. A method of designing other fingers in an under-actuated humanoid robot hand as claimed in claim 1, characterized in that the method comprises the steps of:
the method comprises the following steps: determining the total length of the fingers according to the design requirements of the paw, wherein the length of the fingers usually accounts for 45% -50% of the length of the whole hand;
step two: determining the lengths of a proximal finger connecting rod (201), a middle finger connecting rod (202) and a distal finger connecting rod (203) according to the diameter of the fingers and the thickness of the palm of the finger; the total length of the finger is jointly composed of a proximal finger connecting rod (201), a middle finger connecting rod (202) and a distal finger connecting rod (203), a rotary connecting point of a finger base (206) and the proximal finger connecting rod (201) is defined as C, a rotary connecting point of the finger base (206) and a middle finger transmission frame (204) is defined as D, a rotary connecting point of the middle finger transmission frame (204) and the middle finger connecting rod (202) is defined as E, a rotary connecting point of the proximal finger connecting rod (201) and the middle finger connecting rod (202) is defined as F, a rotary connecting point of the middle distal finger transmission frame (205) and the proximal finger connecting rod (201) is defined as G, a rotary connecting point of the middle distal finger transmission frame (205) and the distal finger connecting rod (203) is defined as H, and a rotary connecting point of the middle finger connecting rod (202) and the distal finger connecting rod (203) is defined as I; the end point of the distal connecting rod (203) is J, and the length relation of the connecting rods meets the following formula:
wherein lCJIs the total length of the finger, /)CFIs the length of proximal connecting rod (201)Degree ofFIIs the length of the middle connecting rod (202) |IJIs the length of the distal link (203), dpThickness of palm, dfIs the diameter of the finger;
step three: and if the upper limit position of the corner of the proximal connecting rod (201) is a horizontal position and the rotation angle of the proximal connecting rod (201) is theta, the included angles of other connecting rods meet the following relation:
wherein the rod lHI、lGF、lCD、lEFShould satisfy at the same time
Step four: and calculating and selecting proper length and angle of the connecting rod according to requirements, calculating or drawing the horizontal initial positions of CF, FI and IJ to obtain the lengths of GH and DE of the rods, and completing finger design of other fingers.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111477636.1A CN114102643B (en) | 2021-12-06 | 2021-12-06 | Design method of under-actuated humanoid robot paw and other fingers |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111477636.1A CN114102643B (en) | 2021-12-06 | 2021-12-06 | Design method of under-actuated humanoid robot paw and other fingers |
Publications (2)
| Publication Number | Publication Date |
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| WO2018006722A1 (en) * | 2016-07-04 | 2018-01-11 | 中国科学院深圳先进技术研究院 | Bionic prosthetic hand |
| CN112873252A (en) * | 2021-01-12 | 2021-06-01 | 河北工业大学 | Modularized dexterous hand mechanical structure |
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| CN101214653A (en) * | 2008-01-04 | 2008-07-09 | 清华大学 | Belt wheel changing to holding power under-driven modularization anthropomorphic robot multi-finger hand device |
| CN101214656A (en) * | 2008-01-11 | 2008-07-09 | 清华大学 | Rack bar under-driven modularization anthropomorphic robot multi-finger hand device |
| CN101486191A (en) * | 2009-02-26 | 2009-07-22 | 清华大学 | Displacement under-actuated robot hand apparatus |
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