PALM SWITCHING MANIPULATOR CAPABLE OF FAST FINGER CHANGING AND HAVING FINGER BASE FLEXIBLE SHAFT FOR ROTATION TRANSMISSION AND ECCENTRIC TRANSPOSITION

摘要

A palm switching manipulator capable of fast finger changing and having finger base flexible shaft for rotation transmission and eccentric transposition, consisting of a palm part and four fingers having the same structure. The palm provides the function of finger base part transposition. The four fingers are able to grasp an upright cylinder, a spheroid or a cube, or are able to grasp a horizontal cylinder or a cuboid when, powered by a transposition motor (12), the left finger and the right finger are transposed clockwise by 45 degrees and the front finger and the rear finger are transposed counterclockwise by 45 degrees. The palm provides the function of finger base part rotation. The rotation driver (11), has two forms, a rotation motor (11a) or a vane type rotary cylinder (11b), and drives a toothed belt (26) and makes, by means of four flexible shafts (6), the four fingers rotate by the same finger base angle, the finger base angle referring to the included angle between the finger base part and the palm surface. There are four types of fingers, including: driverless rotating clamping fingers (1), translational clamping fingers (1a), enveloping fingers having pneumatic knuckles (1b) and soft enveloping fingers (1c).