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Exoskeleton mechanism based on parallelogram link lever

A technology of parallelogram and link mechanism, which is applied in the direction of manipulators, program-controlled manipulators, chucks, etc., and can solve problems such as small elongation range, poor bearing capacity, and complex structure of finger elongation mechanisms.

Inactive Publication Date: 2008-07-16
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The purpose of the present invention is to provide an exoskeleton mechanism based on a parallelogram link to solve the problems of complex structure, poor bearing capacity, and small elongation range in the finger extension mechanism of the existing exoskeleton hand

Method used

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  • Exoskeleton mechanism based on parallelogram link lever
  • Exoskeleton mechanism based on parallelogram link lever
  • Exoskeleton mechanism based on parallelogram link lever

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Experimental program
Comparison scheme
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specific Embodiment approach 1

[0005] Specific embodiment one: (referring to Fig. 1~Fig. 3) this embodiment consists of frame 1, first connecting body 4, second connecting body 7, fingertip body 10, first parallelogram linkage, second parallelogram Link mechanism, third parallelogram linkage mechanism, fourth parallelogram linkage mechanism, first gear transmission mechanism, second gear transmission mechanism, first shaft 14-7, second shaft 14-6, third shaft 14 -5. Fourth axis 14-4, fifth axis 14-3, sixth axis 14-2, seventh axis 14-1, eighth axis 13-3, ninth axis 13-2, tenth axis 13- 1. The eleventh axis 12-7, the twelfth axis 12-6, the thirteenth axis 12-5, the fourteenth axis 12-4, the fifteenth axis 12-3, the sixteenth axis 12-2, The seventeenth axis 12-1, the eighteenth axis 11-7, the nineteenth axis 11-6, the twentieth axis 11-5, the twenty-first axis 11-4, the twenty-second axis 11-3, The twenty-third shaft 11-2 and the twenty-fourth shaft 11-1 are composed of the first parallelogram linkage mechani...

specific Embodiment approach 2

[0006] Embodiment 2: The transmission ratio of the first gear 5-1 and the second gear 5-2 of the first gear transmission mechanism in this embodiment is 1:1.2˜1.5.

specific Embodiment approach 3

[0007] Embodiment 3: The transmission ratio of the first gear 5-1 and the second gear 5-2 of the first gear transmission mechanism in this embodiment is 1:1.4.

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Abstract

The invention relates to an exoskeleton mechanism which is based on parallelogram linkage and aims at solving the problems of complex structure, poor bearing capacity and small stretching range existing in a figure stretching mechanism of the current exoskeleton mechanism. The invention comprises a machine frame, a first connector, a second connector, a figure point body, four parallelogram linkages, two gear transmission mechanisms; all joints adopt the parallelogram linkage mechanism and the middle drive element adopt the linkage and the gear transmission mechanism for driving and the exoskeleton mechanism does the enveloping motion around a human hand. The invention has the advantages of compact structure, powerful bearing capacity and large stretching range. When the exoskeleton mechanism rotates as the figures of an operator, due to that the exoskeleton mechanism stretches according to the exoskeleton mechanism law when rotating, the rotation centers of all joints of the exoskeleton mechanism are respectively coincided with the rotation centers of the corresponding figure joints of the operator, which guarantees no interference between the exoskeleton mechanism and the operator hand.

Description

technical field [0001] The invention relates to an exoskeleton mechanism. Background technique [0002] Exoskeleton hands have broad application prospects in the field of medical robots and as the main hand for teleoperation control. At present, the most typical institutions in the world that use exoskeleton mechanisms to simulate the envelope movement of human fingers are: EXOS exoskeleton hands and CyberGrasp data gloves. These exoskeleton mechanisms have the following two characteristics: ① It needs to cooperate with each knuckle of the human hand to form a polygonal mechanism before it can move. ② can not realize two-way drive (it can only make human hand produce stretching motion), and motion originates from human hand. However, the finger extension mechanisms of these exoskeleton hands have the disadvantages of complex structure, poor bearing capacity, and small extension range. Contents of the invention [0003] The purpose of the present invention is to provide ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/00B25J15/00
Inventor 谢宗武方红根刘宏王建宇张继真
Owner HARBIN INST OF TECH