WO2009084142A1 - Main robotisée - Google Patents

Main robotisée Download PDF

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Publication number
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
Authority
WO
WIPO (PCT)
Prior art keywords
palm
finger
axis
shaft
bending
Prior art date
Application number
PCT/JP2008/002929
Other languages
English (en)
Japanese (ja)
Inventor
Hironori Waita
Kazuyuki Takahashi
Original Assignee
Honda Motor Co., Ltd.
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Honda Motor Co., Ltd. filed Critical Honda Motor Co., Ltd.
Publication of WO2009084142A1 publication Critical patent/WO2009084142A1/fr

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Classifications

    • 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

La présente invention se rapporte à une main robotisée qui peut garantir une manipulation aisée des doigts en évitant autant que possible l'influence d'un point singulier lorsqu'une opération de préhension est effectuée. Une articulation (36) servant à lier un doigt au bord d'une paume (1) est pourvue d'un arbre (37) s'étendant dans la direction croisant la surface (1a) de paume et faisant osciller un doigt (3) dans la direction le long de la surface (1a) de paume, et d'un arbre (38) s'étendant dans la direction le long de la surface (1a) de paume et pliant le doigt (3) dans la direction vers la surface (1a) de paume. L'arbre d'oscillation (37) est placé dans une position s'inclinant contre la paume (1). En conséquence, l'axe (37a) de l'arbre d'oscillation (37) s'orientant vers la paume (1) s'étend tout en s'inclinant dans la direction s'éloignant progressivement du doigt (3) et la région de travail de préhension non touchée par un point singulier peut être agrandie.
PCT/JP2008/002929 2007-12-28 2008-10-16 Main robotisée WO2009084142A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2007-338839 2007-12-28
JP2007338839A JP5013476B2 (ja) 2007-12-28 2007-12-28 ロボットハンド装置

Publications (1)

Publication Number Publication Date
WO2009084142A1 true WO2009084142A1 (fr) 2009-07-09

Family

ID=40823879

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2008/002929 WO2009084142A1 (fr) 2007-12-28 2008-10-16 Main robotisée

Country Status (2)

Country Link
JP (1) JP5013476B2 (fr)
WO (1) WO2009084142A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102011102314B4 (de) * 2010-05-26 2015-06-03 GM Global Technology Operations LLC (n. d. Ges. d. Staates Delaware) Anwenden von Arbeitsraumgrenzen in einem geschwindigkeitsgesteuerten Robotermechanismus

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP5500921B2 (ja) * 2009-09-10 2014-05-21 本田技研工業株式会社 多指ハンド装置

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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 (ja) * 1988-12-28 1990-10-17 Toyota Central Res & Dev Lab Inc 多関節ハンド

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH04210393A (ja) * 1990-11-30 1992-07-31 Shakai Kouzou Kenkyusho:Kk 手話ロボット
JP4545331B2 (ja) * 2000-04-04 2010-09-15 本田技研工業株式会社 多指ハンド装置
JP4365341B2 (ja) * 2005-03-31 2009-11-18 独立行政法人科学技術振興機構 ロボットハンド

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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 (ja) * 1988-12-28 1990-10-17 Toyota Central Res & Dev Lab Inc 多関節ハンド

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102011102314B4 (de) * 2010-05-26 2015-06-03 GM Global Technology Operations LLC (n. d. Ges. d. Staates Delaware) Anwenden von Arbeitsraumgrenzen in einem geschwindigkeitsgesteuerten Robotermechanismus

Also Published As

Publication number Publication date
JP5013476B2 (ja) 2012-08-29
JP2009154281A (ja) 2009-07-16

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