PALM-TYPE ROBOTIC HAND HAVING DUAL-DRIVE PARALLEL SLIDER-CRANK MECHANISM WITH DISPLACEABLE AND ROTATABLE FINGERS

摘要

Disclosed is a palm-type robotic hand having a dual-drive parallel slider-crank mechanism with displaceable and rotatable fingers. A left slider-crank mechanism is an active driving structure, and is driven by two stepping motors (13, 23), respectively, so as to generate an angular displacement of cranks (21) and change the length of connecting rods (17, 39). A right slider-crank mechanism is a driven mechanism, which is driven by a pair of gears (24, 32) at a constant speed. The left crank (21) and the right crank (21) have the same rotational angular displacement. The robotic hand is configured with three leaf spring fingers (19), wherein two fingers (19) are installed on the left and right connecting rods (17, 39), respectively, and operate in coordination by means of the two stepping motors (13, 23). By means of manual adjustment, an eccentric distance of the cranks (21), respective positions and angles of the two fingers (19) on the two connecting rods (17, 39), and a position of another fixed finger (19) can be changed. Clamping and grabbing movements are also driven by the two stepping motors (13, 23), and the two stepping motors (13, 23) can be powered off during grasping as a result of self-locking. The robotic hand of the present invention has advantages such as a large operating space, a wide application range, and low energy consumption.