CN114589724B - Multifunctional self-adaptive three-finger underactuated manipulator - Google Patents
Multifunctional self-adaptive three-finger underactuated manipulator Download PDFInfo
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- CN114589724B CN114589724B CN202210305318.5A CN202210305318A CN114589724B CN 114589724 B CN114589724 B CN 114589724B CN 202210305318 A CN202210305318 A CN 202210305318A CN 114589724 B CN114589724 B CN 114589724B
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- 230000033001 locomotion Effects 0.000 claims abstract description 41
- 230000005540 biological transmission Effects 0.000 claims description 27
- 230000000670 limiting effect Effects 0.000 claims description 22
- 230000007246 mechanism Effects 0.000 claims description 22
- 210000001145 finger joint Anatomy 0.000 claims description 6
- 239000002184 metal Substances 0.000 claims description 3
- 230000001360 synchronised effect Effects 0.000 claims description 2
- 230000003044 adaptive effect Effects 0.000 claims 5
- 208000034530 PLAA-associated neurodevelopmental disease Diseases 0.000 claims 2
- 230000001788 irregular Effects 0.000 abstract description 2
- 238000009434 installation Methods 0.000 description 6
- 230000009467 reduction Effects 0.000 description 4
- 230000002452 interceptive effect Effects 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 238000010146 3D printing Methods 0.000 description 1
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Classifications
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention provides a multifunctional self-adaptive three-finger underactuated manipulator, and belongs to the technical field of underactuated devices. According to the invention, the single rotary motion output by the direct-current gear motor is converted into three mutually noninterfere rotary motion outputs by using the two differentials, so that when an irregular object is grabbed, the motions of other fingers are not influenced under the condition that one finger completes the full-contact stop motion in advance; meanwhile, the number of the motors to be controlled is small, so that the operation is simple and the control is simple. In order to diversify the grabbed objects, a new degree of freedom controlled by the steering engine is introduced, and the steering engine can accurately rotate by an angle, so that two rotatable fingers are controlled to rotate around the rotating central shaft of the finger seat of the steering engine, and the two fingers can synchronously rotate in opposite directions.
Description
Technical Field
The invention belongs to the technical field of underactuated devices, and particularly relates to a multifunctional self-adaptive three-finger underactuated manipulator.
Background
In the present day, automation has been favored by more and more factories, and robots are frequently used in the production process of various industries. The robots mainly controlled by electric power have compact self structures, the advantages of electric power driving occupy most of robot markets, and most of electric robots often adopt a full driving mode with the input equal to the control quantity, namely, the motion of the robots is controlled by adding a motor to each joint; the motor is mainly a servo motor with high precision, high adaptability, high stability, low heat generation, low noise and quick response. However, the addition of motors to each joint can result in a robot motor system that is too bulky. And a single motor controls only one joint so that the motor utilization is low.
In addition, multiple motor systems often mean more complex control and design, increasing the difficulty of designing the control system and decreasing its accuracy in processing the feedback signal. The operation and control of operators are complex, the learning cost is high, and the like, so that errors are more likely to occur during operation; and most servomotors are often obtained through importation, also implying higher costs.
For this reason, the development of under-actuated robots has become one way to solve these problems. The invention provides an underactuated electric three-finger manipulator which consists of two groups of connecting rods and is matched with a gear train at the lower end to realize various knuckle clamping angle positions and clamping functions.
Disclosure of Invention
In order to solve the problems, the invention provides a multifunctional self-adaptive three-finger underactuated manipulator which can realize multiple grabbing modes. According to the invention, the single rotary motion output by the direct current speed reduction motor is converted into three non-interfering rotary motion outputs by using the two differentials, and three non-interfering outputs can be obtained by connecting one output end of the single differential with the input end of the other differential because the single differential can convert one input into two non-interfering outputs; in this way, when an irregular object is grabbed, the motion of other fingers is not affected under the condition that one finger completes the full contact stop motion in advance. In order to diversify the grabbed objects, a new degree of freedom controlled by the steering engine is introduced, and the steering engine can accurately rotate by an angle, so that two rotatable fingers are controlled to rotate around the rotating central shaft of the finger seat of the steering engine, and the two fingers can synchronously rotate in opposite directions.
The technical scheme of the invention is as follows:
a multifunctional self-adaptive three-finger underactuated manipulator comprises a shell, a finger mechanism and a driving wheel train.
The shell is a platform for supporting and bearing the underactuated manipulator and consists of an upper platform, a middle support and a chassis; wherein chassis and upper portion platform are made by 3D printing PLA, and the middle part supports and is cut by metal laser and form.
The finger mechanism is positioned on the upper platform and is composed of three fingers which are distributed in a triangular shape, and each finger comprises a turbine 1, a worm 2, a finger seat 17, a torsion spring 6, a transmission rod, a knuckle and a knuckle connecting rod and a limit corresponding to the knuckle. Wherein, the knuckle is located finger mechanism front side, contacts with the object that snatchs, and is total three, from top to bottom in proper order top knuckle 11, middle end knuckle 14 and bottom knuckle 16. The knuckle connecting rods corresponding to the knuckles are composed of two symmetrical connecting rods, namely a top knuckle connecting rod 10, a middle knuckle connecting rod 4 and a bottom knuckle connecting rod 3; the limiting rods are respectively a top limiting rod 12, a middle limiting rod 13 and a bottom limiting rod 15, and the limiting rods are in contact with each other in pairs before finger grabbing, so that the angle between each section of knuckle of the finger is limited to be not more than 180 degrees, and the three knuckles are not in contact with each other before grabbing.
The top knuckle connecting rod 10 is fixedly connected with the top limit 12 and the top knuckle 11 into a whole, the middle knuckle connecting rod 4 is fixedly connected with the middle limit 13 and the middle knuckle 14 into a whole, and the bottom knuckle connecting rod 3 is fixedly connected with the bottom limit 15 and the bottom knuckle 16 into a whole. The lower end of the top knuckle connecting rod 10 is hinged with the upper end of the middle knuckle connecting rod 4 through a shaft, a torsion spring 6 is arranged on the shaft at a position between the two limiting rods, and two ends of the torsion spring 6 are respectively connected with the lower end of the top limiting 12 and the upper end of the middle limiting 13; the lower end of the middle-end knuckle connecting rod 4 is hinged with the upper end of the bottom-end knuckle connecting rod 3 through a shaft, a torsion spring 6 is arranged at a position between the two limiting rods on the shaft, and two ends of the torsion spring 6 are respectively connected with the lower end of the middle-end limiting rod 13 and the upper end of the bottom-end limiting rod 15. The torsion spring 6 functions to keep the bottom knuckle link 3 and the middle knuckle link 4 relatively stationary with the top knuckle link 10 when there is no contact with an object; after contacting the object, the knuckle contacting the object stops moving due to the blocking of the movement path, but the movement path of the knuckle not contacting the object above is smooth, the limiting force between torsion springs is broken, the knuckles are not relatively static any more, an included angle is generated, and the object is clamped. The torsion spring 6 need not have a significant coefficient of stiffness but still needs to be given a certain amount of pre-compression to achieve a relatively stationary initial knuckle.
The lower end of the bottom knuckle connecting rod 3 is hinged on the finger seat 17 through a shaft, and the two sides of the shaft are limited to move axially through snap springs. The middle part of the middle knuckle connecting rod 4 is hinged with one end of the middle transmission rod 5 through a shaft, and the shaft is limited to axially move through a clamp spring; the other end of the middle end transmission rod 5 and a straight line groove in the middle of the bottom end transmission rod 7 form a sliding pair through a shaft, and the shaft is limited to axially move through a clamp spring. The upper end of the top knuckle connecting rod 10 is hinged with one end of the top transmission rod 9 through a shaft, and the two ends of the shaft are limited to axially move through thrust rings; the other end of the top end transmission rod 9 is hinged with the upper end of the bottom end transmission rod 7 through a shaft, and two ends of the shaft are provided with snap springs 8 to limit the axial movement of the bottom end transmission rod and the top end transmission rod.
The turbine 1 is hinged on the finger seat 17 through a shaft, two ends of the shaft are fixedly connected with a flange through jackscrews, and the flange is fixedly connected with the lower end of the bottom end transmission rod 7. The worm 2 is arranged in a groove of the finger seat 17, the worm 2 takes the axis of the groove as an axis to realize rotary motion, and the rotary motion is transmitted to the turbine 1; a baffle plate is arranged above the worm 2 and fixedly connected with the finger seat 17, and the baffle plate is used for limiting the axial movement of the worm 2.
The driving gear train comprises a steering gear I18, a steering gear II 19, a steering gear III 20, a steering gear IV 21, a universal joint 24, a motor 25, a differential mechanism 27, a telescopic universal joint 28 and a steering gear 29. Each steering engine gear is hinged on the upper platform and only transmits rotary motion; and the gear ratios of the steering engines are the same. Steering wheel 29 is installed on the middle part and is supported, and steering wheel 29 output and steering wheel gear II 19 meshing, steering wheel gear II 19 respectively with steering wheel gear I18 and steering wheel gear IV 21 meshing. The steering gear I18 is fixedly connected with one finger seat 17, the steering gear IV 21 is meshed with the steering gear III 20, and the steering gear III 20 is fixedly connected with the other finger seat 17; the steering gear II 19 and the steering gear IV 21 transmit the rotary motion output by the steering gear 29 to the steering gear I18 and the steering gear III 20, so that the synchronous opposite motion of two fingers is realized. (these two fingers are referred to as rotating fingers, the other being stationary fingers).
The motor 25 is fixedly connected to the middle support, the output end of the motor 25 is connected with a bevel gear above the differential 27 through a coupler, the bevel gear is meshed with the differential 27, and the differential 27 is hinged with a differential support part on the chassis to limit the position of the differential. The two output ends of the differential 27 are respectively fixedly connected with a bevel gear through a coupler, and the coupler is hinged with a coupler supporting part on the chassis to limit the position of the coupler. The bevel gear of an output end of the differential 27 is meshed with another bevel gear 26, the bevel gear 26 is fixedly connected to the middle part of the shaft through a jackscrew, the lower end of the shaft is hinged to the chassis, and the upper end of the shaft passes through a middle support to be fixedly connected with the lower end of the universal joint 24. Bevel gears at the other output end of the differential 27 are meshed with another group of differential gears, the differential gears are hinged with a differential gear supporting part on the chassis to limit the position of the differential gears, and two ends of the differential gears are fixedly connected with one bevel gear through shaft couplings respectively; the two bevel gears are respectively fixedly connected to the middle parts of the two shafts, the lower ends of the shafts are hinged to the chassis, and the upper ends of the shafts are fixedly connected with the telescopic universal joint 28 through the middle support. The telescopic universal joint 28 is fixedly connected with the worm 2 of the two rotating fingers respectively and transmits the rotating motion; the universal joint 24 transmits the rotational movement to the finger-fixing worm 2 through the gear pair universal joint large gear 23 and the universal joint small gear 22.
Further, because the two rotating fingers are driven by a common differential under the two rotating fingers, the direction of the two ends of the single differential output is opposite. In order to ensure that the two fingers are driven in the same direction, bevel gears which are respectively and longitudinally arranged under the two rotating fingers and correspond to the bevel gears in opposite directions respectively, so that the problem of opposite output directions of the differential mechanism is solved, and the two rotating finger worms rotate in the same direction.
The invention has the beneficial effects that:
1. the invention realizes the movement of three knuckles controlled by a single motor by using the driving wheel train, and realizes further underactuation by introducing the differential mechanism, so that the three knuckle outputs are not interfered with each other, and meanwhile, the operation is simple and convenient due to the small number of required control motors, and the control is simple.
2. The invention has a plurality of grabbing modes, the steering engine controls the two fingers to rotate around the rotating central shaft of the finger seat, the adaptability of the manipulator is improved, the grabbing modes can be replaced without disassembly, and the invention can adapt to more complex clamping states; meanwhile, errors caused by improper installation can be adjusted in real time, and the installation time and the installation difficulty are reduced.
3. The invention selects the worm gear to transmit three paths of rotation motions which are not interfered with each other to the finger mechanism above. Because the worm wheel and the worm have the characteristic of self-locking, power can be transmitted to the worm wheel only through the worm, and reverse transmission cannot be realized. By utilizing the characteristics, the fingers can still be ensured not to automatically bounce back when the motor stops outputting.
4. The invention uses the telescopic universal joint to replace the common shaft for transmission so as to solve the problem that when the rotation central shaft of the worm is not coincident with the rotation central shaft of the finger seat, the motions caused by the two degrees of freedom are mutually interfered, so that two fingers rotating by the rotation center of the finger seat cannot simply transmit power to the worm by using the shaft. The installation position of the universal joint can be changed during the rotation of the finger, so that the length of the required universal joint is also changed, and the telescopic universal joint is selected for transmission.
5. The invention has exquisite design and high utilization rate of the motor, and uses one motor to drive three output shafts. Therefore, the motor has low cost; it is also suitable for daily services.
6. The invention has simple and visual operation, is easy to control manually and is easy to learn.
Drawings
FIG. 1 is an overall view of an underactuated operator, illustrating the overall structure.
Fig. 2 is a schematic structural view of the finger mechanism, illustrating the respective partial structures of the finger mechanism.
FIG. 3 is a rear view of the finger mechanism illustrating the torsion spring mounting position.
Fig. 4 is a structural drawing of the drive train, illustrating the structure of each part of the drive train.
Fig. 5 is a perspective view of the drive train, illustrating the overall structure of the drive train.
Fig. 6 is a front view of three fingers at 180 deg. showing front details of the knuckle-angle gimbal position, etc.
Fig. 7 is a top view of three fingers at 180 deg. showing top details of each knuckle angle, etc.
Fig. 8 is a front view of three fingers at 120 deg. showing front details of the knuckle angle gimbal positions, etc.
Fig. 9 is a top view of three fingers at 120 deg., showing top details of each knuckle angle, etc.
Fig. 10 is a front view of three fingers at 90 deg., showing front details of the knuckle-angle gimbal positions, etc.
Fig. 11 is a top view of three fingers at 90 deg., showing top details of each knuckle angle, etc.
In the figure: a turbine; 2, a worm; 3, a knuckle connecting rod at the bottom end; 4 middle knuckle connecting rod; 5 a middle end transmission rod; 6 torsion springs; 7, a bottom transmission rod; 8, clamping springs; 9, a top end transmission rod; 10 top knuckle connecting rod; 11 top knuckle; 12 top limit; 13, limiting the middle end; 14 middle finger joint; limiting the bottom end of the 15; 16 bottom knuckle; 17 finger seats; 18 steering engine gear I; 19 steering engine gear II; 20 steering gear III; 21 steering gear IV; 22 universal joint pinion; 23 universal joint big gear; 24 universal joints; a 25 motor; 26 bevel gears; 27 differential mechanism; 28 telescopic universal joints; 29 steering engine.
Detailed Description
The following detailed description of the invention is further illustrated in conjunction with the examples and the accompanying drawings, but is not intended to limit the invention.
The specific embodiment I is as follows: the included angle of the three fingers is 180 degrees. The finger distribution mode is schematically shown in fig. 6 and 7, and is characterized in that:
step one: the knuckle controls the rotary wheel system through steering engine 29, transmits the rotation to two rotating fingers, makes two rotating fingers 180 degrees with fixed finger, and because of the change of the installation position of universal joint 24, the length of telescopic universal joint 28 is adjusted to the position along with the change of the installation position of universal joint. The clamping mode of the pair clamp is formed, and the finger distribution mode is suitable for grabbing an elongated object or an object with a larger length-diameter ratio, and the grabbing result is three-knuckle contact or single-knuckle contact.
Step two: when the clamping instruction is contacted, the steering engine 29 is kept motionless, the power of the driving motor converts single rotary motion output by the direct-current speed reduction motor into three mutually noninterfere rotary motion outputs through two differentials, and the three rotary motion outputs are output to the worm gear through the universal joint.
Step three: the worm gear receives the power generated by the lower wheel system, the transmission rod directly transmits the power to the top knuckle 11, and then the top knuckle 11 drives the middle knuckle 14. The internode is held relatively stationary with the top knuckle 11 by the torsion spring 6 so that the middle knuckle 14 is not in contact with an object. Middle finger 14 drives bottom finger 16. The internode is held relatively stationary with the middle knuckle 14 and the bottom knuckle 16 by torsion springs when not in contact with an object.
Step four: if the bottom knuckle 16 contacts an object, the limiting force of the torsion spring is counteracted, the limiting force is relieved, the relative rest of the knuckles is broken, the bottom knuckle 16 is kept on the surface of the contact object to stop moving, and the knuckles of the non-contact object such as the middle knuckle 14 and the top knuckle 11 continue to move until all the knuckles completely contact the object, and the grabbing is completed.
The second embodiment is as follows: the included angle of the three fingers is 120 degrees. The finger distribution mode is schematically shown in fig. 8 and 9, and is characterized in that:
step one: the knuckle is through steering wheel 29 control rotation train, will rotate and transmit to two rotatory fingers, makes it 120 with fixed finger, forms triangle-shaped and presss from both sides and get the mode, and this kind of finger distribution mode is fit for snatching ball class object or the object that the draw ratio is equal to about 1, snatchs the result and mostly three knuckle contacts, and the suitability is better.
Step two: when the clamping instruction is contacted, the steering engine 29 is kept motionless, the power of the driving motor converts single rotary motion output by the direct-current speed reduction motor into three mutually noninterfere rotary motion outputs through two differentials, and the three rotary motion outputs are output to the worm gear through the universal joint.
Step three: the worm gear receives the power generated by the lower wheel system, the transmission rod directly transmits the power to the top knuckle 11, and then the top knuckle 11 drives the middle knuckle 14. The internode is held relatively stationary with the top knuckle 11 by the torsion spring 6 so that the middle knuckle 14 is not in contact with an object. Middle finger 14 drives bottom finger 16. The internode is held relatively stationary with the middle knuckle 14 and the bottom knuckle 16 by torsion springs when not in contact with an object.
Step four: if the bottom knuckle 16 contacts an object, the limiting force of the torsion spring is counteracted, the limiting force is relieved, the relative rest of the knuckles is broken, the bottom knuckle 16 is kept on the surface of the contact object to stop moving, and the knuckles of the non-contact object such as the middle knuckle 14 and the top knuckle 11 continue to move until all the knuckles completely contact the object, and the grabbing is completed.
And a third specific embodiment: the included angle of the three fingers is 90 degrees. The finger distribution mode is schematically shown in fig. 10 and 11, and is characterized in that:
step one: the knuckle controls the rotary wheel train through the steering engine 29, and transmits rotation to two rotary fingers to form 90 degrees with the fixed fingers, so that a T-shaped clamping mode is formed, the finger distribution mode is suitable for grabbing objects with larger length-diameter ratio, and the grabbing result is three-knuckle contact or single-knuckle contact.
Step two: when the clamping command is contacted, the steering engine 29 is kept still, and the power of the driving motor converts single rotary motion output by the direct-current speed reduction motor into three rotary motion outputs which are not mutually interfered through two differentials. And the output is transmitted to the worm gear through the universal joint.
Step three: the worm gear receives the power generated by the lower wheel system, the transmission rod directly transmits the power to the top knuckle 11, and then the top knuckle 11 drives the middle knuckle 14. The internode is held relatively stationary with the top knuckle 11 by the torsion spring 6 so that the middle knuckle 14 is not in contact with an object. Middle finger 14 drives bottom finger 16. The internode is held relatively stationary with the middle knuckle 14 and the bottom knuckle 16 by torsion springs when not in contact with an object.
Step four: if the bottom knuckle 16 contacts an object, the limiting force of the torsion spring is counteracted, the limiting force is relieved, the relative rest of the knuckles is broken, the bottom knuckle 16 is kept on the surface of the contact object to stop moving, and the knuckles of the non-contact object such as the middle knuckle 14 and the top knuckle 11 continue to move until all the knuckles completely contact the object, and the grabbing is completed. When the movable knuckle or the fixed knuckle opposite to each other in two directions is completely contacted with an object, the rest non-contacted knuckles are not affected through the mutual noninterference of the coupling, the motor power is transmitted to the non-stopped knuckles, and the knuckles sequentially move to finish grabbing.
Claims (10)
1. The multifunctional self-adaptive three-finger underactuated manipulator is characterized by comprising a shell, a finger mechanism and a driving gear train;
the shell is a platform for supporting and bearing the underactuated manipulator and consists of an upper platform, a middle support and a chassis;
the finger mechanism is positioned on the upper platform and consists of three fingers which are distributed in a triangle shape, and each finger comprises a turbine (1), a worm (2), a finger seat (17), a transmission rod, a knuckle and a knuckle connecting rod and a limit corresponding to the knuckle; the finger joints are positioned at the front side of the finger mechanism and are contacted with the object to be grasped, and the finger joints are a top finger joint (11), a middle finger joint (14) and a bottom finger joint (16) from top to bottom in sequence; the knuckle connecting rods corresponding to the knuckles are composed of two symmetrical connecting rods, namely a top knuckle connecting rod (10), a middle knuckle connecting rod (4) and a bottom knuckle connecting rod (3); the limit is composed of two symmetrical limit rods, namely a top limit (12), a middle limit (13) and a bottom limit (15); the top knuckle connecting rod (10) is fixedly connected with the top limit (12) and the top knuckle (11) into a whole, the middle knuckle connecting rod (4) is fixedly connected with the middle limit (13) and the middle knuckle (14) into a whole, and the bottom knuckle connecting rod (3) is fixedly connected with the bottom limit (15) and the bottom knuckle (16) into a whole; the lower end of the top knuckle connecting rod (10) is hinged with the upper end of the middle knuckle connecting rod (4) through a shaft, and the lower end of the middle knuckle connecting rod (4) is hinged with the upper end of the bottom knuckle connecting rod (3) through a shaft;
the lower end of the bottom knuckle connecting rod (3) is hinged on the finger seat (17) through a shaft; the middle part of the middle knuckle connecting rod (4) is hinged with one end of the middle transmission rod (5) through a shaft, and the other end of the middle transmission rod (5) and a linear groove in the middle part of the bottom transmission rod (7) form a sliding pair through a shaft; the upper end of the top knuckle connecting rod (10) is hinged with one end of the top transmission rod (9) through a shaft, and the other end of the top transmission rod (9) is hinged with the upper end of the bottom transmission rod (7) through a shaft;
the turbine (1) is hinged on the finger seat (17) through a shaft, two ends of the shaft are fixedly connected with flange plates, and the flange plates are fixedly connected with the lower end of the bottom transmission rod (7); the worm (2) is arranged in a groove of the finger seat (17), the worm (2) takes the axis of the groove as an axis to realize rotary motion, and the rotary motion is transmitted to the turbine (1); a baffle is arranged above the worm (2), and is fixedly connected with the finger seat (17) and used for limiting the axial movement of the worm;
the driving gear train comprises a steering gear I (18), a steering gear II (19), a steering gear III (20), a steering gear IV (21), a universal joint (24), a motor (25), a differential mechanism (27), a telescopic universal joint (28) and a steering engine (29); each steering engine gear is hinged on the upper platform and only transmits rotary motion; the steering engine (29) is arranged on the middle support, the output end of the steering engine (29) is meshed with the steering engine gear II (19), and the steering engine gear II (19) is respectively meshed with the steering engine gear I (18) and the steering engine gear IV (21); the steering gear I (18) is fixedly connected with one finger seat (17), the steering gear IV (21) is meshed with the steering gear III (20), and the steering gear III (20) is fixedly connected with the other finger seat (17); the steering gear II (19) and the steering gear IV (21) transmit the rotary motion output by the steering gear (29) to the steering gear I (18) and the steering gear III (20), so that the synchronous opposite motion of two fingers is realized;
the motor (25) is fixedly connected to the middle support, the output end of the motor (25) is connected with a bevel gear above the differential mechanism (27) through a coupler, and the bevel gear is meshed with the differential mechanism (27); the two output ends of the differential mechanism (27) are respectively fixedly connected with a bevel gear through a coupler, the bevel gear of one output end of the differential mechanism (27) is meshed with the other bevel gear, the bevel gear is fixedly connected with the middle part of the shaft, the lower end of the shaft is hinged on the chassis, and the upper end of the shaft passes through the middle support and is fixedly connected with the lower end of the universal joint (24); a bevel gear at the other output end of the differential mechanism (27) is meshed with the other group of differential mechanisms, and two ends of the differential mechanism are respectively fixedly connected with one bevel gear through a coupler; the two bevel gears are respectively and fixedly connected with the middle parts of the two shafts, the lower ends of the shafts are hinged on the chassis, and the upper ends of the shafts are fixedly connected with the telescopic universal joint (28) through the middle support; the telescopic universal joint (28) is fixedly connected with the worms (2) of the two rotating fingers respectively to transmit the rotating motion; the universal joint (24) transmits the rotary motion to the worm (2) for fixing the finger through the gear pair.
2. The multifunctional self-adaptive three-finger underactuated manipulator according to claim 1, further comprising a torsion spring (6), wherein the torsion spring (6) is installed at the middle part of the shaft connecting the two adjacent knuckle connecting rods, and two ends of the torsion spring are respectively connected with the upper limit and the lower limit of the two adjacent knuckle connecting rods.
3. A multi-functional adaptive three-finger underactuated operator according to claim 1 or 2, wherein the gear ratios of the steering gears are the same; bevel gears which are respectively and correspondingly arranged below the two rotating fingers are respectively and longitudinally arranged in opposite directions, so that the worms of the two rotating fingers rotate in the same direction.
4. A multi-function adaptive three finger underactuated actuator as defined in claim 1 or 2 wherein the two sides of the shaft for articulation are restrained from axial movement by snap springs.
5. A multi-functional, self-adaptive three-finger underactuated actuator as defined in claim 3 wherein both sides of the shaft for articulation are restrained from axial movement by snap springs.
6. A multi-function adaptive three-finger underactuated operator according to claim 1, 2 or 5 wherein said differential is articulated with a differential support portion on the chassis to limit differential position; the coupler is hinged to a coupler support portion on the chassis to limit the coupler position.
7. A multi-function adaptive three-finger underactuated operator as recited in claim 3, wherein said differential is hinged to a differential support portion on the chassis to limit differential position; the coupler is hinged to a coupler support portion on the chassis to limit the coupler position.
8. A multi-function adaptive three-finger underactuated operator as recited in claim 4, wherein said differential is hinged to a differential support portion on the chassis to limit differential position; the coupler is hinged to a coupler support portion on the chassis to limit the coupler position.
9. A multi-functional, self-adaptive, three-finger underactuated manipulator as claimed in claim 1, 2, 5, 7 or 8, wherein said chassis and upper platform are made of 3D printed PLA and the middle support is cut from metal laser.
10. The multi-functional, self-adaptive three-finger underactuated manipulator of claim 6, wherein the chassis and upper platform are made of 3D printed PLA and the middle support is cut from metal laser.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210305318.5A CN114589724B (en) | 2022-03-25 | 2022-03-25 | Multifunctional self-adaptive three-finger underactuated manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210305318.5A CN114589724B (en) | 2022-03-25 | 2022-03-25 | Multifunctional self-adaptive three-finger underactuated manipulator |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114589724A CN114589724A (en) | 2022-06-07 |
| CN114589724B true CN114589724B (en) | 2023-11-07 |
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| CN202210305318.5A Active CN114589724B (en) | 2022-03-25 | 2022-03-25 | Multifunctional self-adaptive three-finger underactuated manipulator |
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| CA2958893A1 (en) * | 2017-02-23 | 2018-08-23 | Krishna D. Kumar | Design of fault-tolerant dexterous hand with multi-fingers |
| CN108858256A (en) * | 2018-07-13 | 2018-11-23 | 睿尔曼智能科技（北京）有限公司 | A kind of small-sized form adaptive drive lacking two refers to that hand grabs device |
| CN108908382A (en) * | 2018-08-15 | 2018-11-30 | 哈尔滨工业大学 | The coupling adaptive three of tendon rope drive refers to differential mechanism manpower jaw arrangement |
| CN111331624A (en) * | 2020-04-18 | 2020-06-26 | 郑州蓝智枫智能科技有限公司 | Under-actuated robot finger device based on rope winding |
| GB202013359D0 (en) * | 2020-05-15 | 2020-10-07 | Univ Huazhong Science Tech | Under-driven prosthetic hand with self-adaptive grasping function |
| CN112077868A (en) * | 2020-09-19 | 2020-12-15 | 重庆大学 | Single-motor under-actuated robot end effector with mechanical self-locking function |
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| US5762390A (en) * | 1996-07-16 | 1998-06-09 | Universite Laval | Underactuated mechanical finger with return actuation |
| CA2958893A1 (en) * | 2017-02-23 | 2018-08-23 | Krishna D. Kumar | Design of fault-tolerant dexterous hand with multi-fingers |
| CN108858256A (en) * | 2018-07-13 | 2018-11-23 | 睿尔曼智能科技（北京）有限公司 | A kind of small-sized form adaptive drive lacking two refers to that hand grabs device |
| CN108908382A (en) * | 2018-08-15 | 2018-11-30 | 哈尔滨工业大学 | The coupling adaptive three of tendon rope drive refers to differential mechanism manpower jaw arrangement |
| CN111331624A (en) * | 2020-04-18 | 2020-06-26 | 郑州蓝智枫智能科技有限公司 | Under-actuated robot finger device based on rope winding |
| GB202013359D0 (en) * | 2020-05-15 | 2020-10-07 | Univ Huazhong Science Tech | Under-driven prosthetic hand with self-adaptive grasping function |
| CN112077868A (en) * | 2020-09-19 | 2020-12-15 | 重庆大学 | Single-motor under-actuated robot end effector with mechanical self-locking function |
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