CN105479441A - Robot hand with three under-actuated fingers connected in parallel - Google Patents
Robot hand with three under-actuated fingers connected in parallel Download PDFInfo
- Publication number
- CN105479441A CN105479441A CN201610023822.0A CN201610023822A CN105479441A CN 105479441 A CN105479441 A CN 105479441A CN 201610023822 A CN201610023822 A CN 201610023822A CN 105479441 A CN105479441 A CN 105479441A
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- 230000007246 mechanism Effects 0.000 claims abstract description 32
- 238000009827 uniform distribution Methods 0.000 claims description 6
- 238000005242 forging Methods 0.000 abstract description 2
- 238000001514 detection method Methods 0.000 abstract 1
- 230000008878 coupling Effects 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 230000000295 complement effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0045—Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base
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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
-
- 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
- B25J15/12—Gripping heads and other end effectors having finger members with flexible finger members
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention provides a robot hand with three under-actuated fingers connected in parallel. The robot hand comprises a machine base, a movable platform, a connecting rod, an SP type drive branch, two SPR type drive branches and three under-actuated finger mechanisms. The three drive branches and the three under-actuated finger mechanisms are evenly distributed between the movable platform and the machine base in a staggered manner in the circumferential direction. The upper end of the SP type drive branch is fixedly connected with the movable platform. The lower end of the SP type drive branch is in linkage with machine base ball pairs. The two ends of the connecting rod are in linkage with the upper ends of the two SPR type drive branches. The middle portion of the connecting rod is in linkage with the movable platform. The lower ends of the SPR type drive branches are in linkage with the machine base ball pairs. Each under-actuated finger mechanism comprises a supporting frame, the finger, a spring, an electric cylinder and a support. The supports are vertically and fixedly connected with the movable platform. The fingers are connected with the supporting frames. The electric cylinders drive the supporting frames to rotate. The flexible object grabbing motion of the tail ends of the fingers is achieved through the springs between the supporting frames and the fingers. The robot hand is simple in structure, large in finger pose working space and good in flexibility, can achieve flexible grabbing operation and can be used for the outer space, the deep-sea detection, forging operation, rescue, medical treatment operation and the like.
Description
Technical field
The present invention relates to robot field, particularly a kind of parallel manipulator staff.
Background technology
It is large that parallel institution has mechanism's rigidity relatively, and bearing capacity is strong, and end mass is light, and inertia is little, and site error such as not to accumulate at the feature, in application and serial manipulator have complementary advantages.Compared with six-degree-of-freedom parallel connection mechanism, 3-freedom parallel mechanism has structure and more simply, more holds manageable advantage, with the series-parallel connection of many under-actuated finger mechanisms, can form parallel flexible hand, enjoy showing great attention to of brainstrust in recent years.For ease of illustrating, represent a point number with n, represent respectively with (S, U, P, R) (ball is secondary, universal pair, moving sets, revolute pair) in sub-chain, their combination represents sub-chain structure.In 3-freedom parallel mechanism, nineteen eighty-three Hunt proposes 3-RPS mechanism, and nineteen ninety Pierrot proposes three translation Delta mechanisms, and within 1996, US Patent No. ANo.5656905 discloses three translation 3-UPU mechanisms.Gosselin in 2002 proposes three and rotates the even three translation 3-PRR mechanisms of 3-RRR mechanism reconciliation.Publication number be CN101244558 patent discloses space three-rotation freedom parallel mechanism.Publication number be CN101791804A patent discloses symmetrical two turn of one motion three-freedom-degree parallel mechanism.Publication number is the space three-freedom connection-in-parallel mechanism that patent discloses mobile decoupling of CN101025247.Publication number be CN102632394A patent discloses the 3-freedom parallel mechanism with two rotating shafts that intersect vertically.Said mechanism differs from one another, but also has following deficiency: mobile decoupling type parallel institution rigidity is lower, and in mobile decoupling direction, bearing capacity is poor.In finger mechanism, publication number be CN102922532B patent discloses link-type coordinated drive robot finger apparatus.Publication number be CN103358315B patent discloses full cradle head link-type under-driving robot finger mechanism.Publication number be CN102935642B patent discloses connecting rod key slot type coupling drive lacking doublejointed robot finger apparatus.Publication number be CN102717394B patent discloses bevel gear coupling type dexterous robot finger device.Publication number be CN102717393B patent discloses connecting rod coupling type dexterous robot finger device.Guaranteeing under parallel robot advantage prerequisite, how to construct containing three under-actuated finger parallel manipulator staff, realize finger flexible operation and capture object, and ensure larger position working space and automaticity, there is not been reported.Therefore construct with 3-freedom parallel mechanism the target that three under-actuated finger parallel manipulator staff become robot research domain experts unremitting effort.
Summary of the invention
The object of the present invention is to provide a kind of structure simple, finger pose working space is large, and flexibility is good, flexible operation containing three under-actuated finger parallel manipulator staff.
The present invention includes: support, moving platform, connecting rod, SP type drives branch, the under-actuated finger mechanism that the SPR type that 2 structures are identical drives branch identical with 3 structures.Described 3 drive branch to be driven by the Linear telescopic electric cylinder of routine, and 3 drive branch and 3 under-actuated finger mechanisms to be replace circumference uniform distribution between moving platform and support.Support is provided with the secondary bearing of ball of 3 circumference uniform distributions, moving platform is provided with 1 horizontal through hole and 1 vertical through hole, rotate with the horizontal through hole of moving platform in the middle part of connecting rod and connect, the two ends of this connecting rod are respectively equipped with perpendicular to connecting rod axis and the through hole be parallel to each other, SP type drives the vertical through hole of branch upper end and above-mentioned moving platform to be connected, and this SP type drives the lower end of branch and 1 ball seat ball duplicate invoice of support to connect, 2 SPR types drive branch upper end to connect with link rotatable respectively by the through hole at above-mentioned connecting rod two ends, and these 2 SPR types drive other 2 ball seat ball duplicate invoices of branch lower end and support to connect, under-actuated finger mechanism comprises support, finger, spring, electric cylinder, guide pillar, bearing, wherein, vertically with moving platform in the middle part of bearing to be connected, support is rectangular frame, 1 through hole is respectively provided with in the both sides of this support lower frame, finger lower end and bearing upper end are all rotated with the through hole inside support lower frame and are connected, electric cylinder upper end is rotated with the through hole outside support lower frame and is connected, this electric cylinder lower end is rotated with bearing lower end and is connected, guide pillar is located at frame upper, one end of this guide pillar is vertical with finger middle part to be connected, its other end is free end through the frame of support, spring housing is on guide pillar, one end of this spring is against finger middle part, the other end of this spring is against on the inwall of rack frame, utilize spring to realize finger tips flexible contact and capture object.
The present invention compared with prior art tool has the following advantages:
1, structure is simple, and the free degree is few, controls easily.
2, utilize the spring between support and finger, realize finger tips flexible contact object.
3,3-freedom parallel mechanism and three under-actuated finger mechanism coordinated movements of various economic factors, can realize the flexible coordinated manipulation of three under-actuated finger parallel manipulator staff in large pose working space, flexible crawl object.
4, point pose working space large, flexibility is good, flexible operation, can be used for space and deep-sea detecting, forging operation, rescue, medical operating and massage etc.
Accompanying drawing explanation
Fig. 1 is structure schematic front view of the present invention.
Fig. 2 is the top view of Fig. 1.
In figure: 1-support, 2-moving platform, 3-SPR type drive branch, 4-connecting rod, 5-SP type to drive branch, 6-under-actuated finger mechanism, 6-1-electric cylinder, 6-2-bearing, 6-3-support, 6-4 guide pillar, 6-5-spring, 6-6-finger.
Detailed description of the invention:
Shown in Fig. 1 and Fig. 2 containing in three under-actuated finger parallel manipulator staff schematic diagrames, 3 drive branch to be driven by the Linear telescopic electric cylinder of routine, and 3 drive branch and 3 under-actuated finger mechanisms to be replace circumference uniform distribution between moving platform and support.Support 1 is provided with the secondary bearing of ball of 3 circumference uniform distributions; Moving platform 2 is provided with 1 horizontal through hole and 1 vertical through hole; Rotate with the horizontal through hole of moving platform in the middle part of connecting rod 4 and connect, the two ends of this connecting rod are respectively equipped with perpendicular to connecting rod axis and the through hole be parallel to each other; SP type drives the vertical through hole of branch 5 upper end and above-mentioned moving platform to be connected, and this SP type drives the lower end of branch and 1 ball seat ball duplicate invoice of support to connect; 2 SPR types drive branch 3 upper end to connect with link rotatable respectively by the through hole at above-mentioned connecting rod two ends, and these 2 SPR types drive other 2 ball seat ball duplicate invoices of branch lower end and support to connect.Vertically with moving platform in the middle part of bearing 6-2 in under-actuated finger mechanism 6 to be connected, support 6-3 is rectangular frame, 1 through hole is respectively provided with in the both sides of this support lower frame, finger 6-6 lower end and bearing upper end are all rotated with the through hole inside support lower frame and are connected, electric cylinder 6-1 upper end is rotated with the through hole outside support lower frame and is connected, this electric cylinder lower end is rotated with bearing lower end and is connected, guide pillar 6-4 is located at frame upper, one end of this guide pillar is vertical with finger middle part to be connected, its other end is free end through the frame of support, spring 6-5 is enclosed within guide pillar, one end of this spring is against finger middle part, the other end of this spring is against on the inwall of rack frame, utilize spring to realize finger tips flexible contact and capture object.
Claims (1)
1. one kind contains three under-actuated finger parallel manipulator staff, it comprises: support, moving platform, connecting rod, SP type drives branch, the under-actuated finger mechanism that the SPR type that 2 structures are identical drives branch identical with 3 structures, it is characterized in that: described 3 drive branch to be driven by the Linear telescopic electric cylinder of routine, 3 drive branch and 3 under-actuated finger mechanisms to be replace circumference uniform distribution between moving platform and support, support is provided with the secondary bearing of ball of 3 circumference uniform distributions, and moving platform is provided with 1 horizontal through hole and 1 vertical through hole; Rotate with the horizontal through hole of moving platform in the middle part of connecting rod and connect, the two ends of this connecting rod are respectively equipped with perpendicular to connecting rod axis and the through hole be parallel to each other; SP type drives the vertical through hole of branch upper end and above-mentioned moving platform to be connected, and this SP type drives the lower end of branch and 1 ball seat ball duplicate invoice of support to connect; 2 SPR types drive branch upper end to connect with link rotatable respectively by the through hole at above-mentioned connecting rod two ends, and these 2 SPR types drive other 2 ball seat ball duplicate invoices of branch lower end and support to connect;
Described under-actuated finger mechanism comprises support, finger, spring, electric cylinder, guide pillar, bearing, wherein, vertically with moving platform in the middle part of bearing to be connected, support is rectangular frame, 1 through hole is respectively provided with in the both sides of this support lower frame, finger lower end and bearing upper end are all rotated with the through hole inside support lower frame and are connected, electric cylinder upper end is rotated with the through hole outside support lower frame and is connected, this electric cylinder lower end is rotated with bearing lower end and is connected, guide pillar is located at frame upper, one end of this guide pillar is vertical with finger middle part to be connected, its other end is free end through the frame of support, spring housing is on guide pillar, one end of this spring is against finger middle part, the other end of this spring is against on the inwall of rack frame.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610023822.0A CN105479441B (en) | 2016-01-13 | 2016-01-13 | Robot hand with three under-actuated fingers connected in parallel |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610023822.0A CN105479441B (en) | 2016-01-13 | 2016-01-13 | Robot hand with three under-actuated fingers connected in parallel |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105479441A true CN105479441A (en) | 2016-04-13 |
| CN105479441B CN105479441B (en) | 2017-04-26 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610023822.0A Expired - Fee Related CN105479441B (en) | 2016-01-13 | 2016-01-13 | Robot hand with three under-actuated fingers connected in parallel |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107042521A (en) * | 2017-04-18 | 2017-08-15 | 温州职业技术学院 | Many finger parallel manipulators of soft drive |
| CN109176492A (en) * | 2018-11-08 | 2019-01-11 | 山东大学 | A kind of manipulator based on restructural parallel institution |
| CN109834701A (en) * | 2019-03-08 | 2019-06-04 | 燕山大学 | A kind of mixed connection manipulator's device containing seven bar flexible force sense finger mechanisms |
| CN114714383A (en) * | 2022-03-16 | 2022-07-08 | 四川大学华西医院 | Decoupling three-degree-of-freedom finger-palm variable grabbing mechanism |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| SU1237418A1 (en) * | 1984-12-21 | 1986-06-15 | Николаевский Ордена Трудового Красного Знамени Кораблестроительный Институт Им.Адм.С.О.Макарова | Gripping device |
| CN101244558A (en) * | 2008-03-28 | 2008-08-20 | 天津大学 | Space three-rotation freedom parallel mechanism |
| CN103358315A (en) * | 2013-07-19 | 2013-10-23 | 吴立成 | Connecting-rod-type underactuated robot finger mechanism with all-rotational joints |
| CN203380903U (en) * | 2013-07-22 | 2014-01-08 | 江南大学 | Series loose-leaf hinge flexible claw driven and controlled by electric push rods |
| CN104827484A (en) * | 2015-05-20 | 2015-08-12 | 清华大学 | Gripper |
| CN204819547U (en) * | 2015-07-16 | 2015-12-02 | 上海挪亚检测认证有限公司 | A flexible mechanical hand for industrial robot |
-
2016
- 2016-01-13 CN CN201610023822.0A patent/CN105479441B/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| SU1237418A1 (en) * | 1984-12-21 | 1986-06-15 | Николаевский Ордена Трудового Красного Знамени Кораблестроительный Институт Им.Адм.С.О.Макарова | Gripping device |
| CN101244558A (en) * | 2008-03-28 | 2008-08-20 | 天津大学 | Space three-rotation freedom parallel mechanism |
| CN103358315A (en) * | 2013-07-19 | 2013-10-23 | 吴立成 | Connecting-rod-type underactuated robot finger mechanism with all-rotational joints |
| CN203380903U (en) * | 2013-07-22 | 2014-01-08 | 江南大学 | Series loose-leaf hinge flexible claw driven and controlled by electric push rods |
| CN104827484A (en) * | 2015-05-20 | 2015-08-12 | 清华大学 | Gripper |
| CN204819547U (en) * | 2015-07-16 | 2015-12-02 | 上海挪亚检测认证有限公司 | A flexible mechanical hand for industrial robot |
Non-Patent Citations (1)
| Title |
|---|
| YI LU等: "Kinetostatic analysis of a novel 6-DOF 3UPS parallel manipulator with multi-fingers", 《MECHANISM AND MACHINE THEORY》 * |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107042521A (en) * | 2017-04-18 | 2017-08-15 | 温州职业技术学院 | Many finger parallel manipulators of soft drive |
| CN109176492A (en) * | 2018-11-08 | 2019-01-11 | 山东大学 | A kind of manipulator based on restructural parallel institution |
| CN109834701A (en) * | 2019-03-08 | 2019-06-04 | 燕山大学 | A kind of mixed connection manipulator's device containing seven bar flexible force sense finger mechanisms |
| CN109834701B (en) * | 2019-03-08 | 2020-10-02 | 燕山大学 | Hybrid operation manipulator device containing seven-rod flexible force sensing finger mechanism |
| CN114714383A (en) * | 2022-03-16 | 2022-07-08 | 四川大学华西医院 | Decoupling three-degree-of-freedom finger-palm variable grabbing mechanism |
| CN114714383B (en) * | 2022-03-16 | 2023-06-09 | 四川大学华西医院 | Decoupling three-degree-of-freedom finger-palm variable grabbing mechanism |
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| Publication number | Publication date |
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| CN105479441B (en) | 2017-04-26 |
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