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Exoskeleton mechanism based on parallelogram link lever
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A parallelogram, link mechanism technology, applied in the directions of manipulators, program-controlled manipulators, chucks, etc., can solve the problems of small elongation range, complex structure of finger elongation mechanism, poor bearing capacity, etc. Compact, high-capacity effect
Inactive Publication Date: 2010-07-21
HARBIN INST OF TECH
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[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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specific Embodiment approach 1
[0006] Specific embodiment one: (see Figures 1 to 3) This embodiment consists of a frame 1, a first connecting body 4, a second connecting body 7, a fingertip body 10, a first parallelogram linkage mechanism, and a second parallelogram Linkage 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, Seventeenth axis 12-1, eighteenth axis 11-7, nineteenth axis 11-6, twentieth axis 11-5, 21st axis 11-4, 22nd axis 11-3, The twenty-third axis 11-2 and the twenty-fourth axis 11-1 are composed. The first parallelogram linkage mechanism consists of the first ...
specific Embodiment approach 2
[0007] Specific embodiment 2: In this embodiment, the transmission ratio of the first gear 5-1 and the second gear 5-2 of the first gear transmission mechanism is 1:1.2 to 1.5.
specific Embodiment approach 3
[0008] Specific embodiment 3: In this embodiment, the transmission ratio of the first gear 5-1 and the second gear 5-2 of the first gear transmission mechanism 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] The exoskeleton hand has a broad application prospect in the field of medical robots and as the main hand of teleoperation control. At present, the most typical mechanisms that use exoskeleton mechanisms to simulate the enveloping movement of human fingers are: EXOS exoskeleton hands, CyberGrasp data gloves. These exoskeleton mechanisms have the following two characteristics: ①It needs to cooperate with each segment of the knuckles of the human hand to form a polygonal mechanism to move. ②Neither can achieve two-way drive (it can only make the human hand stretch), and the motion comes from the human hand. However, the finger extension mechanism of these exoskeleton hands has the disadvantages of complex structure, poor bearing capacity and small extension range. Summary of the invention [0003] The purpose of the present invention is to solve the problems of complex structur...
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