Human imitating clever hands driven by artificial pneumatic muscle

A pneumatic artificial muscle and dexterous hand technology, which is applied in the field of humanoid dexterous hands, can solve the problems of mechanical hand mechanism design difficulties, complex mechanisms, and small gripping force, and achieve a large finger movement space, simple overall structure, and large output force. Effect

Inactive Publication Date: 2007-10-03
BEIJING INSTITUTE OF TECHNOLOGYGY
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The idea based on motor drive will inevitably bring great difficulties to the mechanical design of the manipulator, its size is larger than that of human hands, the gripping force is small, and the mechanism is complex, etc.

Method used

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  • Human imitating clever hands driven by artificial pneumatic muscle
  • Human imitating clever hands driven by artificial pneumatic muscle
  • Human imitating clever hands driven by artificial pneumatic muscle

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Experimental program
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Embodiment Construction

[0031] As shown in the figure, a humanoid dexterous hand structure driven by pneumatic artificial muscles is mainly composed of thumb bone 1, index finger bone 2, middle finger bone 3, ring finger bone 4, little finger bone 5, thumb connecting palm 6, middle palm 7, little finger Connect palm 8 and artificial tendon 9, wherein: index phalanx 2, middle phalanx 3, ring phalanx 4 and little phalanx 5 are all composed of far finger unit A, middle finger unit B and proximal finger unit C in the same structural form, Among them, the finger lengths of index phalanx 2, middle phalanx 3, and ring phalanx 4 are the same. Because the finger length of the proximal finger unit C that makes up little phalanx 5 is slightly shorter, the finger length of little phalanx 5 is slightly shorter; index phalanx 2 and middle phalanx 3 , the ring phalanx 4 and the little phalanx 5 are connected with the finger-palm connector 71 through the proximal finger unit C, and then connected with the middle palm...

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Abstract

A pneumatically artificial muscle driven flexible manipulator simulating human hand is composed of the bones of index finger, middle finger, ring finger and little finger and consisting of three units, the thumb bone consisting two units, thumb linking palm, middle palm, little finger linking palm, and artificial tendons. The hand bone system has 21 joints and 17 freedoms.

Description

technical field [0001] The invention relates to a humanoid dexterous hand, in particular to a humanoid dexterous hand structure driven by pneumatic artificial muscles. technical background [0002] As robot technology matures day by day, its application fields continue to expand. A major factor that plagues the development of humanoid manipulators is the drive. The rotational motion between the joints makes people naturally think of using a motor that also outputs rotational motion as the power source of the manipulator. The idea based on motor drive will inevitably bring great difficulties to the mechanical design of the manipulator, its size is larger than that of human hands, its gripping force is small, and its mechanism is complicated. The actuator designed and developed based on the principle of biological muscle movement—pneumatic artificial muscle, has the characteristics of simple design, low cost, unique bionicity, high output force / weight ratio and good flexibil...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J15/08
CPCB25J15/0009B25J9/104B25J9/1075
Inventor 余麟彭光正范伟刘昊
Owner BEIJING INSTITUTE OF TECHNOLOGYGY
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