CN102935642A - Connection rod key slot type coupling under-actuated double-joint robot finger device - Google Patents
Connection rod key slot type coupling under-actuated double-joint robot finger device Download PDFInfo
- Publication number
- CN102935642A CN102935642A CN2012104486414A CN201210448641A CN102935642A CN 102935642 A CN102935642 A CN 102935642A CN 2012104486414 A CN2012104486414 A CN 2012104486414A CN 201210448641 A CN201210448641 A CN 201210448641A CN 102935642 A CN102935642 A CN 102935642A
- Authority
- CN
- China
- Prior art keywords
- joint shaft
- segment
- axle
- connecting rod
- far away
- Prior art date
- Legal status (The legal status 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 status listed.)
- Granted
Links
Images
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
Abstract
A connection rod key slot type coupling under-actuated double-joint robot finger device belongs to the technical field of personification robot hand design. The device comprises a base, a motor, a speed reducer, a first finger section, a second finger section, a far joint shaft, a near joint shaft and a coupling transmission mechanism. The coupling transmission mechanism comprises a connection rod, a push rod and a connection shaft. The device comprehensively achieves effective blending of coupling grabbing effect and self-adapting under-actuated grabbing effect in the mode of key slot transmission and spring decoupling. The device only adopts two connection rods to form the transmission mechanism, is simple in structure and achieves the coupling self-adapting grabbing effect through only one spring. The appearance of the fingers and action for grabbing objects are similar to human fingers. The device is low in requirement for a control system and is suitable for serving as fingers of common personification robot hands.
Description
Technical field
The invention belongs to the humanoid robot hand technical field, particularly a kind of connecting rod key slot type coupling owes to drive the mechanism design of doublejointed robot finger apparatus.
Background technology
From Leonardo da Vinci's epoch, people have just begun the trial about the simulating human palm, invariably produce the demand to mechanical hand to medical science today, space flight, manufacturing industry every field.When people dropped into the mechanical hand that great experience removes new generation, the function of mechanical hand was according to the tendency of diversification having occurred in the different purposes in field separately, and a large class wherein is efficient in order to realize, the stable mechanical hand that grasps purpose.
Because purpose is crawl, do not need the crawl process is controlled accurately, so the development of the finger of this class hand is mainly around two mode expansions, one is " coupling " grasp mode, another is " owing driving " grasp mode.So-called " coupling " grasp mode i.e. the pattern in simultaneously crooked each joint, and this pattern can be good at simulating the motion state of staff, reaches effect true to nature.The grasp mode of so-called " owing to drive " namely causes the pattern of a plurality of separate joint motions by a small amount of motor, this pattern can realize the envelope crawl to object.
These two kinds of each have their own deficiencies of pattern.In the crawl of " coupling " pattern, each joint is all with the rotation of fixed proportion angle, although very multiarticulate motion arranged but in fact only have one degree of freedom, in case certain other segment of segment crawl object generally can't be touched object when the crawl object, be difficult to just to adapt to the geomery of object, when not possessing the crawl object fully to the adaptivity of different size object.In the crawl of " owing to drive " pattern, finger can be realized by flexible constraints such as springs the increase of the free degree, and then object is realized the crawl of self adaptation effect.But under this grasp mode, finger enters behind the touching object and owes can apply power to object under the driving condition, increases the risk that object penetrates, for operation is made troubles.As be used in the humanoid robot hand field, and because finger presents straight configuration all the time before not touching object, do not meet staff crawl feature, can not satisfy the demand that personalizes.
Based on above problem, someone proposes the grasp mode that a kind of coupling owes to drive, and namely finger can first coupled motions, can carry out self-adapting grasping behind the touching object.Existing a kind of coupled under-actuated two-joint robot finger device ([publication number] CN101664930) comprises and draws together pedestal, motor, the first segment, joint shaft far away, the second segment, drive bevel gear, driven wheel of differential and double bevel wheel etc.The pluses and minuses of device had realized the grasp mode that coupling owes to drive preferably before this device was comprehensive, but complex structure (four connecting rods are as transmission mechanism, two springs) has increased the unstability of installing.
Summary of the invention
The objective of the invention is the weak point for prior art, provide a kind of connecting rod key slot type coupling to owe to drive the doublejointed robot finger apparatus, by the mode of keyway transmission and spring decoupling zero, realized that comprehensively effect is grasped in coupling and self adaptation owes to drive the effective integration that grasps effect.This device only adopts two connecting rods to consist of transmission mechanism, and is simple in structure, and only just realized the crawl effect of coupling adaptive with a spring; The profile of finger is similar to finger to the action of crawl object, and is low to the control system requirement, is suitable as the finger of general humanoid robot hand.
Technical scheme of the present invention is as follows:
The coupling of connecting rod key slot type owes to drive the doublejointed robot finger apparatus, comprises pedestal, motor, decelerator, the first segment, the second segment, joint shaft far away, nearly joint shaft and coupled transmission mechanism; Described motor and pedestal are affixed, and the output shaft of motor links to each other with the power shaft of described decelerator; Described nearly joint shaft is set in the pedestal, and described joint shaft far away is fixed in described the first segment; The first segment is socketed on the nearly joint shaft, and described the second segment is socketed on the joint shaft far away; The axis of described nearly joint shaft and joint shaft far away is parallel to each other;
It is characterized in that: described coupled transmission mechanism comprises first connecting rod, push rod, push rod nut, the first connecting axle, the second connecting axle, key axle and spring spare.
One end of described push rod is provided with the push rod nut, is threaded with the decelerator output by the push rod nut, and the other end is provided with keyway and the first connecting axle; Keyway and the socket of described key axle, the key axle is installed in an end of first connecting rod, and the other end of first connecting rod is socketed on the nearly joint shaft; The first connecting axle be fixed on the push rod and with the end socket of second connecting rod, the other end of second connecting rod is socketed on the second connecting axle, the second connecting axle and the second segment are affixed; The two ends of described spring spare connect respectively first connecting rod and the first segment; The axis of described nearly joint shaft, joint shaft far away, the first connecting axle, key axle and the second connecting axle is parallel to each other.
Connecting rod key slot type coupling of the present invention owes to drive the doublejointed robot finger apparatus, it is characterized in that: described nearly joint shaft, joint shaft far away, key axle meet following relation: establishing the axis of nearly joint shaft and the plane, axis place of joint shaft far away is the P plane, and the axis of nearly joint shaft and the plane, axis place of key axle are the M plane; Then the angle on P plane and M plane is greater than the angle of friction of material therefor.
Connecting rod key slot type coupling of the present invention owes to drive the doublejointed robot finger apparatus, and it is characterized in that: described spring spare adopts extension spring, leaf spring or elastic threads.
The present invention compared with prior art has the following advantages and the high-lighting effect:
The decoupling function that this device utilizes keyway mechanism and spring spare to have has realized that comprehensively coupling and self adaptation owe to drive two kinds of Grasp Modes and be combined simply and effectively.This device has realized comprehensively that by the mode of keyway transmission and spring decoupling zero effect is grasped in coupling and self adaptation owes to drive the effective integration that grasps effect.This device only adopts two connecting rods to consist of transmission mechanism, and is simple in structure, and only just realized the crawl effect of coupling adaptive with a spring; The profile of finger is similar to finger to the action of crawl object, and is low to the control system requirement, is suitable as the finger of general humanoid robot hand.
Description of drawings
Fig. 1 is the three-dimensional view of the connecting rod key slot type coupling under-actuated finger device of robot that provides of the present embodiment.
Fig. 2 is the view of the F direction of Fig. 1
Fig. 3 is the A-A cutaway view of Fig. 2.
Fig. 4 is the B-B cutaway view of Fig. 3.
Fig. 5 is the C-C cutaway view of Fig. 4.
Fig. 6 is explosive view embodiment illustrated in fig. 1.
Fig. 7 is the A-A cutaway view that rotates with coupled modes embodiment illustrated in fig. 2.
Fig. 8 is the equivalent connecting rod schematic diagram of rotary state shown in Figure 7.
Fig. 9 is the A-A cutaway view (this moment, the first segment and the second segment were all by grabbing object blocks) that rotates to owe type of drive embodiment illustrated in fig. 2.
Figure 10 is the equivalent connecting rod schematic diagram of rotary state shown in Figure 9.
Figure 11, Figure 12, Figure 13, Figure 14 and Figure 15 are embodiment illustrated in fig. 1 with two the complete holding mode crawl of segment object process schematic diagrames (the first segment and the second segment are rotated around nearly joint shaft, joint shaft axis far away respectively).
Figure 16 is the present embodiment touches object with the second segment schematic diagram.
Figure 17 is the present embodiment grasps object to grip mode schematic diagram.
In Fig. 1 to Figure 17:
The 11-motor, 12-decelerator, 2-pedestal
3-the first segment, 31-joint shaft far away
4-the second segment, 41-the second connecting axle
The 5-push rod, 51-push rod nut, 52-the first connecting axle
The 6-first connecting rod, 61-key axle
The 7-second connecting rod, the nearly joint shaft of 8-, 9-spring spare
The specific embodiment
Be described in further detail the content of concrete structure of the present invention, operation principle below in conjunction with drawings and Examples.
A kind of embodiment of the connecting rod key slot type coupling under-actuated finger device of robot of the present invention's design, such as Fig. 1, Fig. 2, Fig. 3, Fig. 4, Fig. 5 and shown in Figure 6, comprise pedestal 2, motor 11, decelerator 12, the first segment 3, the second segment 4, joint shaft 31 far away, nearly joint shaft 8 and coupled transmission mechanism; Described motor 11 is affixed with pedestal 2, and the output shaft of motor 11 links to each other with the power shaft of described decelerator 12; Described nearly joint shaft 8 is set in the pedestal 1, and described joint shaft 31 far away is fixed in described the first segment 3; The first segment 3 is socketed on the nearly joint shaft 8, and described the second segment 4 is socketed on the joint shaft 31 far away; The axis of described nearly joint shaft 8 and joint shaft 31 far away is parallel to each other;
This embodiment also comprises first connecting rod 6, second connecting rod 7, push rod 5, push rod nut 51, the first connecting axle 52, the second connecting axle 41, key axle 61 and spring spare 9.
One end of described push rod 5 is provided with push rod nut 51, (51 are threaded with decelerator output 12 by the push rod nut, the other end is provided with keyway and the first connecting axle 52, keyway and 61 sockets of described key axle, key axle 61 is installed in an end of first connecting rod 6, and the other end of first connecting rod 6 is socketed on the nearly joint shaft 8; The first connecting axle 52 be fixed on the push rod and with the end socket of second connecting rod 7, the other end of second connecting rod is socketed on the second connecting axle 41, the second connecting axle 41 and the second segment 4 are affixed; The two ends of described spring spare 9 connect respectively first connecting rod 6 and the first segment 3; The axis of described nearly joint shaft 8, joint shaft 31 far away, the first connecting axle 52, key axle 61 and the second connecting axle 41 is parallel to each other.
In the present embodiment, described nearly joint shaft 8, joint shaft 31 far away, key axle 61 meet following relation: establishing the axis of nearly joint shaft 8 and the plane, axis place of joint shaft 31 far away is the P plane, and the axis of nearly joint shaft 8 and the plane, axis place of key axle 61 are the M plane; Then the angle on P plane and M plane is greater than the angle of friction of material therefor.
Connecting rod key slot type coupling of the present invention owes to drive the doublejointed robot finger apparatus, it is characterized in that: described spring spare 9 adopts extension spring, leaf spring or elastic threads.
The operation principle of the present embodiment such as Figure 11, Figure 12, Figure 13, Figure 14, Figure 15, Figure 16 and shown in Figure 17, is described below:
The original state of the present embodiment as shown in figure 11, similar people's finger straight configuration.
When the robot finger who uses the present embodiment grasps object, the output shaft rotation of motor 11, output shaft and push rod nut 51 by decelerator 12 drive whole push rod 5 rectilinear motions, push rod 5 promotes key axle 61 drive first connecting rods 6 and rotates around nearly joint shaft center line, because the effect of contraction of spring spare 9, the first segment 3 and first connecting rod 6 are fixed together seemingly, and the first segment 3 will turn an angle around nearly joint shaft 8.
In push rod 5 motion processes, the first connecting axle 52 will be near joint shaft 31 far away, because second connecting rod 7 and the first connecting axle 52 and the second connecting axle 41 is hinged and the second connecting axle 41 and the second segment 4 are affixed, the motion of push rod 5 is so that the first connecting axle 52 will be near joint shaft 31 far away, turns an angle thereby promote the go the long way round center line of joint shaft 31 of the second segment 4.Change key axle 61.This mode is the coupled drive mode, as shown in figure 12.
By adjusting the length of first connecting rod 6, second connecting rod 7, the relative position of the angle of first connecting rod 6 and the first segment 3 and keyway and the first connecting axle 52 under the original state, the distance of the axis of the second connecting axle 41 and joint shaft 31 far away, can obtain different coupling effects, the angle that the first segment 3 was rotated around nearly joint shaft 8 when namely coupling was rotated and the second segment 4 different relations of joint shaft 31 with respect to the angle of the first finger tip 3 rotations of going the long way round.
At this moment, if the first segment 3 is at first touched object, shown in 13.The output shaft of motor 11 is rotated further, by output shaft and whole push rod 5 rectilinear motions of push rod nut 51 drives of decelerator 12, so that first connecting rod 6 will be rotated further under the promotion of motor.Because the restriction that the first segment is subject to object can't be moved, spring spare 9 will deform, this will make the first segment 3 with increasing grasp force near object.Because second connecting rod 7 and the first connecting axle 52 and the second connecting axle 41 is hinged and the second connecting axle 41 and the second segment 4 are affixed, the motion of push rod 5 is so that the first connecting axle 52 will be near joint shaft 31 far away, turns an angle thereby promote the go the long way round center line of joint shaft 31 of the second segment 4.This process is until the second segment 4 touches object, and moment shell and the pressure of the object countertorque that produce of the at this moment output of motor by spring carried out balance, finishes grasping action, such as Figure 14, shown in Figure 15.This process is so that this device can adapt to the object of crawl difformity and size automatically.
At this moment, if touch simultaneously object by the first segment 3 and the second segment 4, moment shell and the pressure of the object countertorque that produce of the at this moment output of motor by spring carried out balance, finishes grasping, as shown in figure 16.
At this moment, if at first touch object by the second segment 4, the at this moment output of motor is carried out balance by the moment shell of spring and the countertorque of the pressure generation of object on the second segment 4, and finger grasps object in the mode that grips, as shown in figure 17.
When decontroling object, motor 11 counter-rotatings, the output shaft by decelerator 12 and push rod nut 51 drive whole push rod 5 straight lines and return, and push rod 5 drives first connecting rods 6 by key axle 61 and reverses around nearly joint shaft 8 center lines, and the distortion of spring 9 reduces gradually; And the distance of the first connecting axle 52 and joint shaft 31 far away increases, and drives joint shaft 31 counter-rotatings of going the long way round of the second segment 4.After restoring fully, the distortion of spring 9 begins to drive the first segment 3 around nearly joint shaft 8 counter-rotatings.Finally, because the restriction of pedestal 2, push rod 5 is parked in initial position, and finger restores, as shown in figure 11.
Owing to there being sliding friction when key axle and keyway interaction, the angle of its active force will be avoided the condition of self-locking of selected materials, therefore require to meet following relation between nearly joint shaft 8, joint shaft 31 far away, key axle 61 threes: establishing the axis of nearly joint shaft 8 and the plane, axis place of joint shaft 31 far away is the P plane, the axis of nearly joint shaft 8 and the plane, axis place of key axle 61 are the M plane, as shown in Figure 5; Then the angle on P plane and M plane is greater than the angle of friction of material therefor.
9 requirements of spring spare can be between two parts transmitting torque, therefore can adopt extension spring, leaf spring or elastic threads.
This device utilizes a push rod to put together by the transmission with two joints of connecting rod and keyway, and the decoupling function that utilizes simultaneously spring spare to have has realized that comprehensively coupling and self adaptation owe to drive two kinds of Grasp Modes and be combined simply and effectively.At the input of push rod, the output of push rod nut connection reducer; At two outputs of push rod, keyway and the first connecting axle will move and pass to respectively the first segment and the second segment, and this dichotomous kind of drive has reduced the quantity of part and saved the space, so that device is dexterousr simple.This finger apparatus adopts the coupled modes transmission before touching object, altitude measurement personalizes; During the touching object, can grasp adaptively object.This device only adopts two connecting rods to consist of transmission mechanism, and is simple in structure, and only just realized the crawl effect of coupling adaptive with a spring; The profile of finger is similar to finger to the action of crawl object, and is low to the control system requirement, is suitable as the finger of general humanoid robot hand.
Claims (3)
1. the coupling of connecting rod key slot type owes to drive the doublejointed robot finger apparatus, comprises pedestal (2), motor (11), decelerator (12), the first segment (3), the second segment (4), joint shaft (31) far away, nearly joint shaft (8) and coupled transmission mechanism; Described motor (11) is affixed with pedestal (2), and the output shaft of motor (11) links to each other with the power shaft of described decelerator (12); Described nearly joint shaft (8) is set in the pedestal (1), and described joint shaft far away (31) is fixed in described the first segment (3); The first segment (3) is socketed on the nearly joint shaft (8), and described the second segment (4) is socketed on the joint shaft far away (31); The axis of described nearly joint shaft (8) and joint shaft (31) far away is parallel to each other;
It is characterized in that: described coupled transmission mechanism comprises first connecting rod (6), second connecting rod (7), push rod (5), push rod nut (51), the first connecting axle (52), the second connecting axle (41), key axle (61) and spring spare (9);
One end of described push rod (5) is provided with push rod nut (51), is threaded with decelerator output (12) by push rod nut (51), and the other end is provided with keyway and the first connecting axle (52); Keyway and described key axle (61) socket, key axle (61) is installed in an end of first connecting rod (6), and the other end of first connecting rod (6) is socketed on the nearly joint shaft (8); The first connecting axle (52) be fixed on the push rod and with the end socket of second connecting rod (7), the other end of second connecting rod is socketed on the second connecting axle (41), the second connecting axle (41) and the second segment (4) are affixed; The two ends of described spring spare (9) connect respectively first connecting rod (6) and the first segment (3); The axis of described nearly joint shaft (8), joint shaft (31) far away, the first connecting axle (52), key axle (61) and the second connecting axle (41) is parallel to each other.
2. connecting rod key slot type coupling as claimed in claim 1 owes to drive the doublejointed robot finger apparatus, it is characterized in that: meet following relation between described nearly joint shaft (8), joint shaft (31) far away, key axle (61) three: establishing the axis of nearly joint shaft (8) and the plane, axis place of joint shaft (31) far away is the P plane, and the axis of nearly joint shaft (8) and the plane, axis place of key axle (61) are the M plane; Then the angle on P plane and M plane is greater than the angle of friction of material therefor.
3. connecting rod key slot type coupling as claimed in claim 1 owes to drive the doublejointed robot finger apparatus, and it is characterized in that: described spring spare (9) adopts extension spring, leaf spring or elastic threads.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210448641.4A CN102935642B (en) | 2012-11-09 | 2012-11-09 | Connection rod key slot type coupling under-actuated double-joint robot finger device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210448641.4A CN102935642B (en) | 2012-11-09 | 2012-11-09 | Connection rod key slot type coupling under-actuated double-joint robot finger device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102935642A true CN102935642A (en) | 2013-02-20 |
| CN102935642B CN102935642B (en) | 2015-02-18 |
Family
ID=47694580
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201210448641.4A Expired - Fee Related CN102935642B (en) | 2012-11-09 | 2012-11-09 | Connection rod key slot type coupling under-actuated double-joint robot finger device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102935642B (en) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103786161A (en) * | 2014-02-10 | 2014-05-14 | 上海交通大学 | Underactuated mechanical finger with self-adaption to shapes |
| CN104511906A (en) * | 2013-09-28 | 2015-04-15 | 沈阳新松机器人自动化股份有限公司 | Multi-joint manipulator |
| CN105881571A (en) * | 2016-05-27 | 2016-08-24 | 燕山大学 | Flexible coupling single-drive human-simulated finger |
| CN107053222A (en) * | 2017-03-16 | 2017-08-18 | 杭州若比邻机器人科技有限公司 | Slide rail type bilayer turns back drive mechanism |
| CN107081785A (en) * | 2017-03-16 | 2017-08-22 | 杭州若比邻机器人科技有限公司 | Bilayer turns back the multi-stage rotary mechanism of driving |
| CN107838934A (en) * | 2017-10-27 | 2018-03-27 | 北京理工大学 | It is a kind of can self-adapting grasping connecting rod under-actuated bionic finger |
| CN107901061A (en) * | 2017-11-22 | 2018-04-13 | 清华大学 | Slide bar auxiliary end straight line puts down folder adaptive robot finger apparatus |
| CN109648591A (en) * | 2019-02-11 | 2019-04-19 | 宋易飞 | Robot finger apparatus |
| CN110370305A (en) * | 2019-07-22 | 2019-10-25 | 珠海格力智能装备有限公司 | Mechanical finger and manipulator |
| CN115338865A (en) * | 2022-08-18 | 2022-11-15 | 哈尔滨工业大学（深圳） | Grabbing effect measuring method for space non-cooperative target enveloping type grabbing |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6247738B1 (en) * | 1998-01-20 | 2001-06-19 | Daum Gmbh | Robot hand |
| JP2009039809A (en) * | 2007-08-08 | 2009-02-26 | Nachi Fujikoshi Corp | Industrial robot |
| CN101628416A (en) * | 2009-07-31 | 2010-01-20 | 清华大学 | Biarticulate sliding block type directly driving robot finger device with variable holding force |
| CN101722514A (en) * | 2009-11-27 | 2010-06-09 | 清华大学 | Coupling under-actuated integrated three-joint robot finger device |
| JP2010247321A (en) * | 2009-03-27 | 2010-11-04 | Honda Motor Co Ltd | Robot hand device |
| US20110148132A1 (en) * | 2009-12-21 | 2011-06-23 | Samsung Electronics Co., Ltd. | Industrial gripper with multiple degrees of freedom |
| JP2012085992A (en) * | 2010-10-21 | 2012-05-10 | Shozo Nishimura | Prosthetic finger |
| CN102476382A (en) * | 2010-11-26 | 2012-05-30 | 财团法人精密机械研究发展中心 | Hand/thumb joint linkage unit |
-
2012
- 2012-11-09 CN CN201210448641.4A patent/CN102935642B/en not_active Expired - Fee Related
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6247738B1 (en) * | 1998-01-20 | 2001-06-19 | Daum Gmbh | Robot hand |
| JP2009039809A (en) * | 2007-08-08 | 2009-02-26 | Nachi Fujikoshi Corp | Industrial robot |
| JP2010247321A (en) * | 2009-03-27 | 2010-11-04 | Honda Motor Co Ltd | Robot hand device |
| CN101628416A (en) * | 2009-07-31 | 2010-01-20 | 清华大学 | Biarticulate sliding block type directly driving robot finger device with variable holding force |
| CN101722514A (en) * | 2009-11-27 | 2010-06-09 | 清华大学 | Coupling under-actuated integrated three-joint robot finger device |
| US20110148132A1 (en) * | 2009-12-21 | 2011-06-23 | Samsung Electronics Co., Ltd. | Industrial gripper with multiple degrees of freedom |
| JP2012085992A (en) * | 2010-10-21 | 2012-05-10 | Shozo Nishimura | Prosthetic finger |
| CN102476382A (en) * | 2010-11-26 | 2012-05-30 | 财团法人精密机械研究发展中心 | Hand/thumb joint linkage unit |
Non-Patent Citations (2)
| Title |
|---|
| 张文增，孙振国等: "机器人手可变抓取力机构研究", 《机械设计与研究》 * |
| 张文增，陈强等: "变抓取力的欠驱动拟人机器人手", 《清华大学学报（自然科学版）》 * |
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104511906A (en) * | 2013-09-28 | 2015-04-15 | 沈阳新松机器人自动化股份有限公司 | Multi-joint manipulator |
| CN104511906B (en) * | 2013-09-28 | 2015-11-18 | 沈阳新松机器人自动化股份有限公司 | Multi-joint manipulator |
| CN103786161A (en) * | 2014-02-10 | 2014-05-14 | 上海交通大学 | Underactuated mechanical finger with self-adaption to shapes |
| CN103786161B (en) * | 2014-02-10 | 2015-09-09 | 上海交通大学 | There is the activation lacking mechanical finger of form adaptive |
| CN105881571A (en) * | 2016-05-27 | 2016-08-24 | 燕山大学 | Flexible coupling single-drive human-simulated finger |
| CN107081785A (en) * | 2017-03-16 | 2017-08-22 | 杭州若比邻机器人科技有限公司 | Bilayer turns back the multi-stage rotary mechanism of driving |
| CN107053222A (en) * | 2017-03-16 | 2017-08-18 | 杭州若比邻机器人科技有限公司 | Slide rail type bilayer turns back drive mechanism |
| CN107838934A (en) * | 2017-10-27 | 2018-03-27 | 北京理工大学 | It is a kind of can self-adapting grasping connecting rod under-actuated bionic finger |
| CN107901061A (en) * | 2017-11-22 | 2018-04-13 | 清华大学 | Slide bar auxiliary end straight line puts down folder adaptive robot finger apparatus |
| CN109648591A (en) * | 2019-02-11 | 2019-04-19 | 宋易飞 | Robot finger apparatus |
| CN109648591B (en) * | 2019-02-11 | 2024-03-26 | 宋易飞 | Robot finger device |
| CN110370305A (en) * | 2019-07-22 | 2019-10-25 | 珠海格力智能装备有限公司 | Mechanical finger and manipulator |
| CN115338865A (en) * | 2022-08-18 | 2022-11-15 | 哈尔滨工业大学（深圳） | Grabbing effect measuring method for space non-cooperative target enveloping type grabbing |
Also Published As
| Publication number | Publication date |
|---|---|
| CN102935642B (en) | 2015-02-18 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102935642A (en) | Connection rod key slot type coupling under-actuated double-joint robot finger device | |
| CN104015193B (en) | Capture locking adaptive robot finger apparatus | |
| CN100581756C (en) | Double bevel wheel under-driven robot finger | |
| CN104908056A (en) | Three-finger mechanical gripper with variable structure | |
| CN102126210B (en) | 7-DOF (Degree of Freedom) pneumatic muscle flexible mechanical arm | |
| CN101653941B (en) | Sliding block type direct under-actuated bionic hand device with changeable holding power | |
| CN101722514B (en) | Coupling under-actuated integrated three-joint robot finger device | |
| CN102717393B (en) | Connecting rod coupling-type finger device for neat robot | |
| CN101797753A (en) | Smart under-actuated bionic robot finger device with parallel-connected tendon ropes | |
| CN101716767B (en) | Coupling underactuated integrated bionic hand device | |
| CN107309887B (en) | Coupling and self-adaptive under-actuated bionic dexterous finger | |
| CN203077298U (en) | Under-actuation five-finger manipulator | |
| CN102896639A (en) | Thumb mechanism of artificial hand | |
| Sun et al. | A novel coupled and self-adaptive under-actuated multi-fingered hand with gear–rack–slider mechanism | |
| CN101633171B (en) | Finger device of double-joint parallel under-actuated robot | |
| CN102179818A (en) | Finger device of composite underactuated double-joint robot with differential-motion bevel gear system | |
| CN102310411A (en) | Three-axis gear and rack composite underactuated dual-joint robot finger device | |
| CN102896636A (en) | Differential gear train coupled adaptive under-actuated finger device | |
| CN100551637C (en) | Rack bar under-driven robot finger device | |
| CN202241307U (en) | Connecting rod slider type under-actuated bionic robot hand device | |
| CN101444917A (en) | Mechanical finger device with functions of bionic displacement and self-adapting grasping | |
| CN101486188B (en) | Hand four fingers side extending apparatus of bionic robot | |
| CN101664930B (en) | Coupling underactuated integral finger device of double-joint robot | |
| CN101829993B (en) | Rack crank slide block type parallel coupling under-driving robot finger device | |
| CN101633172A (en) | Finger device of duplex bevel gear coupling robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20150218 Termination date: 20171109 |