MECHANICAL ARM HAVING DUAL-DRIVEN SPECIALLY-SHAPED SUPER-FLEXIBLE ELASTIC FRAME

摘要

A mechanical arm having a dual-driven specially-shaped super-flexible elastic frame comprises an upper plate (2) and a base plate (10). The upper plate (2) and the base plate (10) are fixed to each other by two guide connection rods (3) so as to form an integrated unit. Two lead screw shaft servo motors (1) are mounted on the upper plate (2), and are spaced apart from each other. Lead screws of the two lead screw shaft servo motors (1) are respectively connected to a hollow finger front section driving plate (4) and a finger root portion driving plate (7). Ends of the two lead screws are respectively supported on the base plate (10) by two mounted bearings (11). The mechanical arm further comprises a flexible finger (12). A tip portion of the flexible finger (12) is fixed on the hollow finger front section driving plate (4). A specially-shaped super-flexible leaf spring (4a) of the flexible finger (12) is connected to the base plate (10) by a finger root hinge seat (9). A curved rod (6a) of the flexible finger (12) is connected to the finger root portion driving plate (7) by a curved rod hinge seat (6). Rotation movements of the two lead screw shaft servo motors (1) are converted into linear movements by lead screw nut mechanisms, and respectively drive different portions of the flexible finger (12) to move. The invention reliably grips objects having different sizes and states, has a wide gripping range, and is adaptively flexible.