WO2009084142A1 - Robot hand device - Google Patents
Robot hand device Download PDFInfo
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- WO2009084142A1 WO2009084142A1 PCT/JP2008/002929 JP2008002929W WO2009084142A1 WO 2009084142 A1 WO2009084142 A1 WO 2009084142A1 JP 2008002929 W JP2008002929 W JP 2008002929W WO 2009084142 A1 WO2009084142 A1 WO 2009084142A1
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- WIPO (PCT)
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- palm
- finger
- axis
- shaft
- bending
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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
Definitions
- the present invention relates to a robot hand device including fingers that flex and extend through a plurality of joints.
- This type of robot hand device includes a plurality of fingers extending from the edge of the palm, and each of the fingers includes a plurality of joints that bend and extend with respect to the palm of the palm. It is configured to be able to perform a gripping action (an action of bending a finger while holding the article in contact with the plane of the hand and holding the article on the plane of the hand). Furthermore, in addition to bending and stretching movements, a so-called lateral bending movement that swings the finger in a direction along the palm of the palm so that a posture suitable for gripping various objects can be easily adopted. What is possible is also known.
- the axis is the surface of the palm to swing the finger in the direction along the palm.
- the bending range includes a swing for lateral bending movement.
- An axis 51a of the shaft 51 exists.
- the fingertip 52 coincides with the axis 51a of the swing shaft 51, the fingertip 52 only changes the direction of the fingertip 52 around the axis 51a even if the fingertip 52 is bent sideways.
- the position 52 cannot be moved. This state is generally referred to as a singular point, and the position control of the finger 5 becomes difficult, and the operability of the finger 5 is deteriorated.
- the axis 51a of the swing shaft 51 is located at the end of the finger 5 on the palm 6 side and is orthogonal to the palm surface 6a, for example, the article is brought into contact with the palm surface 6a, and the article is If the finger 5 is bent so as to be gripped, the fingertip 52 exceeds the axis 51 a of the swing shaft 51 above the palm surface 6 a. For this reason, there is an inconvenience that accurate control by fingertip force or the like cannot be performed and smooth gripping operation cannot be performed.
- an object of the present invention is to provide a robot hand device that can avoid the influence of a singular point as much as possible to ensure smooth operability of a finger when performing a gripping operation.
- the present invention includes a palm having a surface abutting against an article, and a finger extending from an edge of the palm, and the finger bends and stretches through a plurality of joints to perform a grasping operation of the article by the finger and the palm.
- the joint connecting the finger to the edge of the palm among the joints of the finger extends in a direction intersecting the palm surface and swings the finger in a direction along the palm surface.
- a bending shaft that extends in a direction along the palm surface and bends the finger in a direction toward the palm surface, and the swinging shaft is provided in a posture inclined with respect to the palm.
- the axis extending toward the palm of the hand extends in an inclined manner in a direction away from the finger.
- the swing axis is an axis for so-called side bending motion that swings the finger in a direction along the palm surface
- the bending axis is a so-called bending / extension motion that flexes the finger in a direction toward the palm surface.
- the swing axis is provided in such a posture that the axis line toward the palm is gradually separated from the finger, so that the axis line of the swing axis is inclined with respect to the palm surface.
- the bending axis is located closer to the finger than the swinging shaft and is adjacent to the swinging shaft.
- the axis of the swing axis is on the palm side relative to the axis of the bending axis, so that the area that is not affected by the singular point in the gripping area of the finger on the plane of the hand is further expanded. be able to.
- FIG. 1 schematically shows a robot hand apparatus A according to the present embodiment.
- This robot hand apparatus A imitates a human hand and includes five fingers corresponding to a palm 1, a thumb 2, an index finger 3, a middle finger, a ring finger, and a little finger.
- the thumb 2 and the indicating finger 3 are shown, and the other fingers are omitted.
- the index finger 3 includes a terminal node portion 31, a middle node portion 32, and a root node portion 33 in order from the fingertip side to the finger base side, and this arrangement corresponds to the human finger.
- the end node portion 31 and the middle node portion 32 are connected by a first joint 34 so as to be bent in the direction toward the palm surface 1a.
- the middle joint portion 32 and the base joint portion 33 are connected by a second joint 35 so as to be bent in a direction toward the palm surface 1a.
- the proximal portion 33 is connected to the palm 1 via the third joint 36.
- the third joint 36 includes a swing shaft 37 and a bending shaft 38, and the swing shaft 37 is pivotally attached to the end edge side of the palm 1.
- the swing shaft 37 is a shaft that swings the index finger 3 in the direction along the palm surface 1a
- the bending shaft 38 is a shaft that bends the index finger 3 in the direction toward the palm surface 1a.
- the 3rd joint 36 is corresponded to the joint which connected the finger
- the end joint 31, the middle joint 32, and the base joint 33 are connected by a link mechanism (not shown) via the joints 34, 35, and 36, and interlock with the rotation of the third joint 36 by the bending shaft 38.
- the second joint 35 and the first joint 34 are rotated.
- the end node portion 31, the middle node portion 32, and the base node portion 33 are bent toward the article (not shown), and an operation of gripping the article on the palm surface 1a is performed.
- a mother finger 2 described later comes into contact with the article from the side opposite to the bending index finger 3.
- the rotation of the third joint 36 is driven by a drive source provided in the palm 1 or the like (not shown).
- the output shaft of the electric motor is connected to the third joint 36.
- the force (fingertip force) with which the distal end portion 31 that is the fingertip portion of the index finger 3 comes into contact with the article is controlled.
- the thumb 2 includes a terminal joint portion 21, a middle joint portion 22 and a base joint portion 23 in order from the fingertip to the finger base in the same manner as the indicator finger 3, and is opposite to the indicator finger 3 through the palm surface 1a. It is provided on the side (the wrist side not shown).
- the end node portion 21 and the middle node portion 22 are connected by a first joint 24 so as to be bent in the direction toward the palm surface 1a.
- the middle joint portion 22 and the base joint portion 23 are connected by a second joint 25 so as to be bent in a direction toward the palm surface 1a.
- the proximal portion 23 of the thumb 2 is connected to the palm 1 via the third joint 26.
- the third joint 26 of the thumb 2 is constituted by a swing shaft 27 and a bending shaft 28, and the swing shaft 27 is pivotally attached to the end edge side of the palm 1.
- the swinging shaft 27 of the thumb 2 is a shaft that swings the thumb 2 in the left-right direction with respect to the palm surface 1a, and the axis 27a is provided in a posture extending along the palm surface 1a.
- the bending axis 28 of the thumb 2 is an axis that bends the thumb 2 in a direction toward the palm surface 1 a, and the axis 28 a is orthogonal to the axis 27 a of the swinging shaft 27.
- the rocking shaft 37 and the bending shaft 38 in the third joint 36 of the index finger 3 will be described in more detail.
- the bending shaft 38 of the third joint 36 in the index finger 3 has an axis 38a extending in a direction along the palm surface 1a. Thereby, the index finger 3 can be bent in the direction toward the palm surface 1 a via the third joint 36.
- the swing shaft 37 of the third joint 36 in the index finger 3 extends in a direction in which the axis 37a intersects the palm surface 1a.
- the swing shaft 37 of the index finger 3 is inclined with respect to the palm surface 1a, and the axis 37a of the swing shaft 37 toward the palm 1 is tilted so as to gradually move away from the index finger 3 side (that is, , Inclined toward the thumb 2 side).
- the swinging shaft 37 and the bending shaft 38 of the third joint 36 of the index finger 3 extend in the direction intersecting each other. At this time, the bending shaft 38 is positioned closer to the index finger 3 than the swinging shaft 37. is doing.
- the movement of the index finger 3 through the third joint 36 not only provides a bending / extending motion toward the palm surface 1a, but also around the axis 37a of the swing shaft 37 with respect to the palm 1.
- the swing shaft 37 is inclined with respect to the palm surface 1a, the palm surface 1a can bend and extend without being affected by the singular point in the lateral bending motion of the index finger 3.
- the upper area (hereinafter referred to as a gripping work area) can be enlarged.
- the bending shaft 38 is positioned on the side of the index finger 3 with respect to the swing shaft 37, the gripping work area that is not affected by the singular point can be enlarged.
- a singular point in the lateral bending motion of the index finger 3 exists on the axis 37 a of the swing shaft 37. For this reason, for example, when the index finger 3 is bent to the palm 1 side and the distal node portion 31 that is the fingertip is positioned on the axis 37 a of the swing shaft 37, even if the side bending motion is performed via the swing shaft 37, The middle joint portion 32 and the base joint portion 33 swing along the circular arc trajectory, but the end joint portion 31 remains in a fixed position without moving. Therefore, in this state, there is no degree of freedom of the end node 31, and it is difficult to perform position control and fingertip force control on the end node 31.
- the swing shaft 37 is inclined with respect to the palm surface 1a, so that it differs from the conventional robot hand apparatus B shown in FIG.
- the axis 37a of the swing shaft 37 which is a singular point, can be tilted away from the index finger 3 by tilting to the thumb 2 side, and is not affected by the singular point in most of the gripping work area in the lateral bending motion of the index finger 3. Therefore, it is possible to control the index finger 3 with high accuracy.
- the middle finger, the ring finger, and the little finger can secure a wide gripping work area that is not affected by the singular point by adopting the same configuration as that of the index finger 3.
- the lateral bending movement of the index finger 3 is not affected by the singular point in most of the gripping work area, so that the operation when the article on the palm surface 1a is gripped by the thumb 2 and the index finger 3 is performed. It can be performed smoothly, and an operation imitating a human hand can be easily obtained.
- a robot configured to perform a gripping operation of an article (an operation of bending a finger while holding the article in contact with the plane of the hand and gripping the article on the plane of the hand) in the same manner as a human hand.
- a gripping operation of an article an operation of bending a finger while holding the article in contact with the plane of the hand and gripping the article on the plane of the hand.
Abstract
A robot hand device which can assure smooth operability of fingers by avoiding the influence of a singular point as much as possible when grip operation is performed. A joint (36) for linking a finger to the edge of a palm (1) is provided with a shaft (37) extending in the direction intersecting the surface (1a) of palm and swinging a finger (3) in the direction along the surface (1a) of palm, and a shaft (38) extending in the direction along the surface (1a) of palm and bending the finger (3) in the direction toward the surface (1a) of palm. The swing shaft (37) is provided in a posture inclining against the palm (1). Consequently, the axis (37a) of the swing shaft (37) directing toward the palm (1) extends while inclining in the direction receding gradually from the finger (3) and the grip work region unaffected by a singular point can be enlarged.
Description
本発明は、複数の関節を介して屈伸する指を備えるロボットハンド装置に関する。
The present invention relates to a robot hand device including fingers that flex and extend through a plurality of joints.
この種のロボットハンド装置は、手の平の端縁から延びる複数の指を備え、各指が、手の平に対して屈伸運動させる複数の関節を備えていることにより、人間の手と同様にして物品の掴み動作(手の平面に物品を当接させた状態で指を折り曲げて手の平面上で物品を把持する動作)が行えるように構成されている。更に、屈伸運動が可能であるだけでなく、種々様々の物体を掴むのに適した姿勢を容易に採ることができるように、指を手の平の面に沿う方向に揺動させる所謂側屈運動を可能としたものも知られている。このものでは、手の平の端縁に指を連結している関節に、指を手の平に向かって屈曲させる屈曲軸だけでなく、指を手の平の面に沿う方向に揺動させるべく軸線が手の平の面に直交する方向に延びる揺動軸を備えている(例えば、特開2001-347482号公報参照)。
This type of robot hand device includes a plurality of fingers extending from the edge of the palm, and each of the fingers includes a plurality of joints that bend and extend with respect to the palm of the palm. It is configured to be able to perform a gripping action (an action of bending a finger while holding the article in contact with the plane of the hand and holding the article on the plane of the hand). Furthermore, in addition to bending and stretching movements, a so-called lateral bending movement that swings the finger in a direction along the palm of the palm so that a posture suitable for gripping various objects can be easily adopted. What is possible is also known. In this case, not only the bending axis that causes the finger to bend toward the palm but also the joint that connects the finger to the edge of the palm, the axis is the surface of the palm to swing the finger in the direction along the palm. (See, for example, Japanese Patent Application Laid-Open No. 2001-347482).
しかし、この種のロボットハンド装置においては、例えば図2に示すように、示指に相当する指5を手の平6の方向に屈曲させたとき、その屈曲範囲には、側屈運動のための揺動軸51の軸線51aが存在する。そして、指5を屈伸運動させて物品を掴んだときに、揺動軸51の軸線51aに指先52が一致すると、側屈運動させてもその軸線51a回りに指先52の向きが変わるだけで指先52の位置を移動させることができない状態となる。この状態は、一般に特異点と言われており、指5の位置制御が困難となって指5の動作性が悪くなる。
However, in this type of robot hand device, for example, as shown in FIG. 2, when the finger 5 corresponding to the index finger is bent in the direction of the palm 6, the bending range includes a swing for lateral bending movement. An axis 51a of the shaft 51 exists. When the finger 5 is bent and stretched and the article is gripped, if the fingertip 52 coincides with the axis 51a of the swing shaft 51, the fingertip 52 only changes the direction of the fingertip 52 around the axis 51a even if the fingertip 52 is bent sideways. The position 52 cannot be moved. This state is generally referred to as a singular point, and the position control of the finger 5 becomes difficult, and the operability of the finger 5 is deteriorated.
更に、揺動軸51の軸線51aが指5の手の平6側の端部に位置し且つ手の平の面6aに直交している場合、例えば、手の平の面6aに物品を当接させ、この物品を掴むように指5を屈曲させると、手の平の面6aの上方で指先52が揺動軸51の軸線51aを越えてしまう。このため、指先力等による的確な制御が行えず、円滑な掴み動作が行えない不都合がある。
Further, when the axis 51a of the swing shaft 51 is located at the end of the finger 5 on the palm 6 side and is orthogonal to the palm surface 6a, for example, the article is brought into contact with the palm surface 6a, and the article is If the finger 5 is bent so as to be gripped, the fingertip 52 exceeds the axis 51 a of the swing shaft 51 above the palm surface 6 a. For this reason, there is an inconvenience that accurate control by fingertip force or the like cannot be performed and smooth gripping operation cannot be performed.
本発明はかかる背景に鑑み、掴み動作を行う際に、特異点による影響を極力回避して、指の円滑な動作性を確保することができるロボットハンド装置を提供することを目的とする。
In view of such a background, an object of the present invention is to provide a robot hand device that can avoid the influence of a singular point as much as possible to ensure smooth operability of a finger when performing a gripping operation.
本発明は、物品に当接する面を有する手の平と、該手の平の端縁から延びる指とを備え、該指が複数の関節を介して屈伸して、指と手の平とによる物品の掴み動作を行うロボットハンド装置において、前記指における各関節のうち手の平の端縁に指を連結している関節は、手の平の面と交差する方向に延びて指を手の平の面に沿う方向に揺動させる揺動軸と、手の平の面に沿う方向に延びて指を手の平の面に向かう方向に屈曲させる屈曲軸とを備え、前記揺動軸は、手の平に対して傾斜する姿勢で設けられ、該揺動軸の手の平に向かう軸線は、該指から次第に離反する方向に傾斜して延びていることを特徴とする。
The present invention includes a palm having a surface abutting against an article, and a finger extending from an edge of the palm, and the finger bends and stretches through a plurality of joints to perform a grasping operation of the article by the finger and the palm. In the robot hand device, the joint connecting the finger to the edge of the palm among the joints of the finger extends in a direction intersecting the palm surface and swings the finger in a direction along the palm surface. And a bending shaft that extends in a direction along the palm surface and bends the finger in a direction toward the palm surface, and the swinging shaft is provided in a posture inclined with respect to the palm. The axis extending toward the palm of the hand extends in an inclined manner in a direction away from the finger.
本発明において、揺動軸は、指を手の平の面に沿う方向に揺動させる所謂側屈運動のための軸であり、屈曲軸は、指を手の平の面に向かう方向に屈曲させる所謂屈伸運動のための軸である。そして、揺動軸は、その手の平に向かう軸線が、該指から次第に離反するように傾斜する姿勢に設けられていることにより、揺動軸の軸線は手の平の面に対して傾斜した状態て交差する。これによって、掴み動作(手の平面に物品を当接させた状態で指を折り曲げて手の平面上で物品を把持する動作)の際に指を屈曲軸により屈曲させたとき、指先が揺動軸の軸線に一致する位置は手の平面の近傍となるので、手の平面上における指の把持作業領域のうち、特異点の影響を受けない領域を大とすることができる。
In the present invention, the swing axis is an axis for so-called side bending motion that swings the finger in a direction along the palm surface, and the bending axis is a so-called bending / extension motion that flexes the finger in a direction toward the palm surface. Is the axis for. The swing axis is provided in such a posture that the axis line toward the palm is gradually separated from the finger, so that the axis line of the swing axis is inclined with respect to the palm surface. To do. As a result, when the finger is bent by the bending axis during the gripping operation (the operation of bending the finger while holding the article in contact with the plane of the hand and holding the article on the plane of the hand), Since the position coinciding with the axis is in the vicinity of the plane of the hand, the area that is not affected by the singular point in the finger gripping work area on the plane of the hand can be increased.
また、本発明において、前記屈曲軸は、前記揺動軸よりも指側に位置して該揺動軸に隣接することが好ましい。これにより、揺動軸の軸線は、屈曲軸の軸線に対して相対的に手の平側となるので、手の平面上における指の把持作業領域のうち、特異点の影響を受けない領域を更に拡大することができる。
In the present invention, it is preferable that the bending axis is located closer to the finger than the swinging shaft and is adjacent to the swinging shaft. As a result, the axis of the swing axis is on the palm side relative to the axis of the bending axis, so that the area that is not affected by the singular point in the gripping area of the finger on the plane of the hand is further expanded. be able to.
図1は本実施形態のロボットハンド装置Aを模式的に示している。このロボットハンド装置Aは、人間の手を模倣したものであり、手の平1をはじめ、母指2、示指3、中指、環指および小指に相当する5指を備える。なお、図においては母指2及び示指3のみを示し、他の指を省略している。
FIG. 1 schematically shows a robot hand apparatus A according to the present embodiment. This robot hand apparatus A imitates a human hand and includes five fingers corresponding to a palm 1, a thumb 2, an index finger 3, a middle finger, a ring finger, and a little finger. In the figure, only the thumb 2 and the indicating finger 3 are shown, and the other fingers are omitted.
図1に示すように、示指3は、その指先側から指基側に向かって順に、末節部31、中節部32、及び基節部33を備え、この配置は人間の示指に対応している。末節部31と中節部32とは第1関節34により手の平の面1aに向かう方向に屈曲自在に連結されている。中節部32と基節部33とは第2関節35により手の平の面1aに向かう方向に屈曲自在に連結されている。そして、基節部33は第3関節36を介して手の平1に連結されている。第3関節36は、揺動軸37と屈曲軸38とにより構成され、該揺動軸37が手の平1の端縁側に枢着されている。揺動軸37は、示指3を手の平の面1aに沿う方向に揺動させる軸であり、屈曲軸38は、示指3を手の平の面1aに向かう方向に屈曲させる軸である。そして、第3関節36は、本発明における指(示指3)の各関節のうち手の平の端縁に指を連結している関節に相当するものである。
As shown in FIG. 1, the index finger 3 includes a terminal node portion 31, a middle node portion 32, and a root node portion 33 in order from the fingertip side to the finger base side, and this arrangement corresponds to the human finger. Yes. The end node portion 31 and the middle node portion 32 are connected by a first joint 34 so as to be bent in the direction toward the palm surface 1a. The middle joint portion 32 and the base joint portion 33 are connected by a second joint 35 so as to be bent in a direction toward the palm surface 1a. The proximal portion 33 is connected to the palm 1 via the third joint 36. The third joint 36 includes a swing shaft 37 and a bending shaft 38, and the swing shaft 37 is pivotally attached to the end edge side of the palm 1. The swing shaft 37 is a shaft that swings the index finger 3 in the direction along the palm surface 1a, and the bending shaft 38 is a shaft that bends the index finger 3 in the direction toward the palm surface 1a. And the 3rd joint 36 is corresponded to the joint which connected the finger | toe to the edge of the palm of each joint of the finger | toe (indicator 3) in this invention.
末節部31、中節部32、及び基節部33は、各関節34,35,36を介して図示しないリンク機構により接続されており、屈曲軸38による第3関節36の回動に連動して第2関節35及び第1関節34の回動が行なわれる。これによって、物品(図示しない)に向かって末節部31、中節部32、及び基節部33が屈曲し、手の平の面1a上の物品を掴む動作が行なわれる。なお、物品を掴む際には、屈曲する示指3の反対側から後述の母指2が物品に当接する。また、第3関節36の回動は、図示しないが、手の平1の内部等に設けられた駆動源により駆動される。例えば、駆動源が電動モータである場合には電動モータの出力軸が第3関節36に接続される。この場合には、出力軸のトルクを制御することにより示指3の指先部である末節部31が物品に当接する力(指先力)が制御される。
The end joint 31, the middle joint 32, and the base joint 33 are connected by a link mechanism (not shown) via the joints 34, 35, and 36, and interlock with the rotation of the third joint 36 by the bending shaft 38. Thus, the second joint 35 and the first joint 34 are rotated. As a result, the end node portion 31, the middle node portion 32, and the base node portion 33 are bent toward the article (not shown), and an operation of gripping the article on the palm surface 1a is performed. When grasping the article, a mother finger 2 described later comes into contact with the article from the side opposite to the bending index finger 3. In addition, the rotation of the third joint 36 is driven by a drive source provided in the palm 1 or the like (not shown). For example, when the drive source is an electric motor, the output shaft of the electric motor is connected to the third joint 36. In this case, by controlling the torque of the output shaft, the force (fingertip force) with which the distal end portion 31 that is the fingertip portion of the index finger 3 comes into contact with the article is controlled.
また、母指2は、示指3と同様にして指先から指基に向かって順に、末節部21、中節部22、及び基節部23を備え、手の平の面1aを介して示指3の反対側(図示しない手首側)に設けられている。末節部21と中節部22とは第1関節24により手の平の面1aに向かう方向に屈曲自在に連結されている。中節部22と基節部23とは第2関節25により手の平の面1aに向かう方向に屈曲自在に連結されている。そして、母指2の基節部23は第3関節26を介して手の平1に連結されている。母指2の第3関節26は、揺動軸27と屈曲軸28とにより構成され、該揺動軸27が手の平1の端縁側に枢着されている。母指2の揺動軸27は、該母指2を手の平の面1aに対して左右方向に揺動させる軸であり、その軸線27aが手の平の面1aに沿って延びる姿勢に設けられている。また、母指2の屈曲軸28は、該母指2を手の平の面1aに対して向かう方向に屈曲させる軸であり、その軸線28aは揺動軸27の軸線27aと直交している。
In addition, the thumb 2 includes a terminal joint portion 21, a middle joint portion 22 and a base joint portion 23 in order from the fingertip to the finger base in the same manner as the indicator finger 3, and is opposite to the indicator finger 3 through the palm surface 1a. It is provided on the side (the wrist side not shown). The end node portion 21 and the middle node portion 22 are connected by a first joint 24 so as to be bent in the direction toward the palm surface 1a. The middle joint portion 22 and the base joint portion 23 are connected by a second joint 25 so as to be bent in a direction toward the palm surface 1a. The proximal portion 23 of the thumb 2 is connected to the palm 1 via the third joint 26. The third joint 26 of the thumb 2 is constituted by a swing shaft 27 and a bending shaft 28, and the swing shaft 27 is pivotally attached to the end edge side of the palm 1. The swinging shaft 27 of the thumb 2 is a shaft that swings the thumb 2 in the left-right direction with respect to the palm surface 1a, and the axis 27a is provided in a posture extending along the palm surface 1a. . The bending axis 28 of the thumb 2 is an axis that bends the thumb 2 in a direction toward the palm surface 1 a, and the axis 28 a is orthogonal to the axis 27 a of the swinging shaft 27.
ここで、示指3の第3関節36における揺動軸37と屈曲軸38とについて更に詳しく説明する。示指3における第3関節36の屈曲軸38は、その軸線38aが手の平の面1aに沿う方向に延びている。これにより、第3関節36を介して示指3を手の平の面1aに向かう方向に屈曲させることができる。
Here, the rocking shaft 37 and the bending shaft 38 in the third joint 36 of the index finger 3 will be described in more detail. The bending shaft 38 of the third joint 36 in the index finger 3 has an axis 38a extending in a direction along the palm surface 1a. Thereby, the index finger 3 can be bent in the direction toward the palm surface 1 a via the third joint 36.
示指3における第3関節36の揺動軸37は、その軸線37aが手の平の面1aと交差する方向に延びている。また、示指3の揺動軸37は手の平の面1aに対して傾斜して設けられており、手の平1に向かう揺動軸37の軸線37aは、示指3側から次第に離反するように傾斜(即ち、母指2の側に向かって傾斜)している。そして更に、示指3の第3関節36における揺動軸37と屈曲軸38とは、互いに交差方向に軸線が延びるが、このとき、屈曲軸38は、揺動軸37よりも示指3側に位置している。
The swing shaft 37 of the third joint 36 in the index finger 3 extends in a direction in which the axis 37a intersects the palm surface 1a. The swing shaft 37 of the index finger 3 is inclined with respect to the palm surface 1a, and the axis 37a of the swing shaft 37 toward the palm 1 is tilted so as to gradually move away from the index finger 3 side (that is, , Inclined toward the thumb 2 side). Further, the swinging shaft 37 and the bending shaft 38 of the third joint 36 of the index finger 3 extend in the direction intersecting each other. At this time, the bending shaft 38 is positioned closer to the index finger 3 than the swinging shaft 37. is doing.
こうすることによって、第3関節36を介しての示指3の動きは、手の平の面1aに向かっての屈伸運動が得られるだけでなく、手の平1に対して揺動軸37の軸線37a回りの側屈運動を得ることができる。それだけでなく、揺動軸37が手の平の面1aに対して傾斜して設けられていることにより、示指3の側屈運動における特異点の影響を受けずに屈伸運動が行える手の平の面1aの上方領域(以下、把持作業領域という)を拡大することができる。更に、屈曲軸38が揺動軸37よりも示指3側に位置するので、特異点の影響を受けない把持作業領域を拡大させることができる。
In this way, the movement of the index finger 3 through the third joint 36 not only provides a bending / extending motion toward the palm surface 1a, but also around the axis 37a of the swing shaft 37 with respect to the palm 1. Can bend laterally. In addition, since the swing shaft 37 is inclined with respect to the palm surface 1a, the palm surface 1a can bend and extend without being affected by the singular point in the lateral bending motion of the index finger 3. The upper area (hereinafter referred to as a gripping work area) can be enlarged. Further, since the bending shaft 38 is positioned on the side of the index finger 3 with respect to the swing shaft 37, the gripping work area that is not affected by the singular point can be enlarged.
示指3の側屈運動における特異点は、揺動軸37の軸線37a上に存在する。このため、例えば、示指3を手の平1側に屈曲させて、揺動軸37の軸線37a上に指先である末節部31が位置すると、揺動軸37を介して側屈運動を行っても、中節部32及び基節部33は円弧軌道に沿って揺動するが、末節部31は移動することなく定位置に留まる。従って、この状態では、末節部31の自由度がなく、末節部31に対して位置制御や指先力制御を行うことが困難となる。
A singular point in the lateral bending motion of the index finger 3 exists on the axis 37 a of the swing shaft 37. For this reason, for example, when the index finger 3 is bent to the palm 1 side and the distal node portion 31 that is the fingertip is positioned on the axis 37 a of the swing shaft 37, even if the side bending motion is performed via the swing shaft 37, The middle joint portion 32 and the base joint portion 33 swing along the circular arc trajectory, but the end joint portion 31 remains in a fixed position without moving. Therefore, in this state, there is no degree of freedom of the end node 31, and it is difficult to perform position control and fingertip force control on the end node 31.
そして、図2に示した従来のロボットハンド装置Bのように、揺動軸51の軸線51aが手の平の面6aに対して直交していると、手の平の面6aに対向する把持作業領域の殆どが揺動軸51の軸線51aを越えた位置にあり、特異点の影響を受けない把持作業領域が極めて狭い。
As in the conventional robot hand apparatus B shown in FIG. 2, when the axis 51a of the swing shaft 51 is orthogonal to the palm surface 6a, most of the gripping work area facing the palm surface 6a Is located beyond the axis 51a of the oscillating shaft 51, and the gripping work area not affected by the singular point is extremely narrow.
それに対して、本実施形態においては、図1に示すように、揺動軸37を手の平の面1aに対して傾斜して設けたことにより、図2に示した従来のロボットハンド装置Bと異なり、特異点とされる揺動軸37の軸線37aを母指2側に傾斜して示指3から遠ざけることができ、示指3の側屈運動において把持作業領域の殆どで特異点の影響を受けないので、精度の高い示指3の制御を行うことができる。更に、図示しないが、中指、環指および小指においても、示指3と同様な構成を採用することにより、特異点の影響を受けない把持作業領域を広く確保することができる。
On the other hand, in this embodiment, as shown in FIG. 1, the swing shaft 37 is inclined with respect to the palm surface 1a, so that it differs from the conventional robot hand apparatus B shown in FIG. The axis 37a of the swing shaft 37, which is a singular point, can be tilted away from the index finger 3 by tilting to the thumb 2 side, and is not affected by the singular point in most of the gripping work area in the lateral bending motion of the index finger 3. Therefore, it is possible to control the index finger 3 with high accuracy. Further, although not shown in the figure, the middle finger, the ring finger, and the little finger can secure a wide gripping work area that is not affected by the singular point by adopting the same configuration as that of the index finger 3.
そして、このように、示指3の側屈運動は、把持作業領域の殆どで特異点の影響を受けないので、手の平の面1a上の物品を母指2と示指3とによって掴む場合の動作が円滑に行え、人間の手を模倣した動作を容易に得ることができる。
In this way, the lateral bending movement of the index finger 3 is not affected by the singular point in most of the gripping work area, so that the operation when the article on the palm surface 1a is gripped by the thumb 2 and the index finger 3 is performed. It can be performed smoothly, and an operation imitating a human hand can be easily obtained.
本発明によれば、人間の手と同様にして物品の掴み動作(手の平面に物品を当接させた状態で指を折り曲げて手の平面上で物品を把持する動作)が行えるように構成したロボットハンド装置に採用して、掴み動作を行う際に、特異点による影響を極力回避して、指の円滑な動作性を確保することが可能となる。
According to the present invention, a robot configured to perform a gripping operation of an article (an operation of bending a finger while holding the article in contact with the plane of the hand and gripping the article on the plane of the hand) in the same manner as a human hand. When adopting a hand device and performing a gripping operation, it is possible to avoid the influence of a singular point as much as possible and to ensure smooth operability of the finger.
Claims (2)
- 物品に当接する面を有する手の平と、該手の平の端縁から延びる指とを備え、該指が複数の関節を介して屈伸して、指と手の平とによる物品の掴み動作を行うロボットハンド装置において、
前記指における各関節のうち手の平の端縁に指を連結している関節は、手の平の面と交差する方向に延びて指を手の平の面に沿う方向に揺動させる揺動軸と、手の平の面に沿う方向に延びて指を手の平の面に向かう方向に屈曲させる屈曲軸とを備え、
前記揺動軸は、手の平に対して傾斜する姿勢で設けられ、該揺動軸の手の平に向かう軸線は、該指から次第に離反する方向に傾斜して延びていることを特徴とするロボットハンド装置。 In a robot hand apparatus, comprising: a palm having a surface abutting against an article; and a finger extending from an edge of the palm, wherein the finger bends and stretches through a plurality of joints to perform a grasping operation of the article with the finger and the palm ,
Of the joints in the finger, the joint connecting the finger to the edge of the palm extends in a direction intersecting the palm surface and swings the finger in a direction along the palm surface. A bending axis extending in a direction along the surface and bending the finger in a direction toward the palm surface,
The swinging shaft is provided in a posture inclined with respect to the palm, and an axis of the swinging shaft extending toward the palm extends inclined in a direction gradually separating from the finger. . - 前記屈曲軸は、前記揺動軸よりも指側に位置して該揺動軸に隣接することを特徴とする請求項1記載のロボットハンド装置。 2. The robot hand apparatus according to claim 1, wherein the bending axis is located closer to the finger than the swing axis and is adjacent to the swing axis.
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JP2007338839A JP5013476B2 (en) | 2007-12-28 | 2007-12-28 | Robot hand device |
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US4921293A (en) * | 1982-04-02 | 1990-05-01 | The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration | Multi-fingered robotic hand |
JPH02256489A (en) * | 1988-12-28 | 1990-10-17 | Toyota Central Res & Dev Lab Inc | Multi-joint hand |
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JPH04210393A (en) * | 1990-11-30 | 1992-07-31 | Shakai Kouzou Kenkyusho:Kk | Hand talking robot |
JP4545331B2 (en) * | 2000-04-04 | 2010-09-15 | 本田技研工業株式会社 | Multi-finger hand device |
JP4365341B2 (en) * | 2005-03-31 | 2009-11-18 | 独立行政法人科学技術振興機構 | Robot hand |
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US4921293A (en) * | 1982-04-02 | 1990-05-01 | The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration | Multi-fingered robotic hand |
JPH02256489A (en) * | 1988-12-28 | 1990-10-17 | Toyota Central Res & Dev Lab Inc | Multi-joint hand |
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DE102011102314B4 (en) * | 2010-05-26 | 2015-06-03 | GM Global Technology Operations LLC (n. d. Ges. d. Staates Delaware) | Apply workspace boundaries in a speed-controlled robotic mechanism |
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