Chiasma tendon rope under-driven modularized anthropomorphic robot hand device

Abstract

Belonging to the technical field of anthropomorphic robots, an underactuated modularized anthropomorphic robot hand device with crossed tendons is similar to a human hand, the structures of an index finger, a middle finger, a ring finger and a little finger are the same, each finger applies a motor to drive three joints to rotate, the palm applies a motor to drive the root of the thumb to sway sidewise and rotate, and the thumb applies a motor to drive two joints to rotate. The device has five independently controlled fingers, fifteen joint freedom degrees, six driving joints and nine underactuated joints; the underactuated joint of each finger applies a crossed tendon and gear transmission mechanism with the same or approximate structure, a socketed middle finger section and a spring part with a multi-joint decoupling function, so, not only is the cost reduced, but also maintenance is convenient; the motors and the transmission mechanisms are hidden into the hand, the structure is simple, the weight is light, control is easy, and the degree of integration is high; the appearance, size and motion of the whole device imitate a human hand, and the device can automatically grasp objects with different shapes and sizes.

Description

technical field [0001] The invention belongs to the technical field of anthropomorphic robots, and in particular relates to the structural design of a cross tendon rope underactuated modular anthropomorphic robot hand device. Background technique [0002] In the study of intelligent robots, people regard anthropomorphic robots as the highest state of robot research, and have always regarded the realization of human-like behavior as a dream goal. Similar to humans, most functions of anthropomorphic robots are realized through hand manipulation, so the hand structure is an important part of anthropomorphic robots, and its design is one of the key technologies of anthropomorphic robots. The power supply system, drive system, information processing system and control system of the humanoid robot are completely carried by itself, so it puts forward very strict requirements for the design of its hand, requiring the hand device to be small in weight and volume, and in order to To ...

AI Technical Summary

Problems solved by technology

The disadvantages of these two patents are that the roots of the middle finger, ring finger and little finger of these two devices are driven by the same motor, which cannot be rotated independently, which is too different from the human hand, and the dexterity is not enough; the thumb is fixedly installed on the hand. The four fingers on the palm are directly opposite, and the thumb cannot turn back and forth between the side of the palm and the opposite, which is also quite different from the human hand.

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