Multi-finger dexterous hand of robot based on pneumatic flexible driver

A flexible driver and robot technology, applied in the directions of manipulators, chucks, manufacturing tools, etc., can solve the problems of poor applicability, poor flexibility, complex structure, etc., and achieve the effects of convenient processing, simple and compact structure, and low cost.

Inactive Publication Date: 2009-04-08
ZHEJIANG UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0006] In order to overcome the deficiencies of the existing robot dexterous hand with complex structure, poor flexibility, and poor applicability, the present

Method used

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  • Multi-finger dexterous hand of robot based on pneumatic flexible driver
  • Multi-finger dexterous hand of robot based on pneumatic flexible driver
  • Multi-finger dexterous hand of robot based on pneumatic flexible driver

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Experimental program
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Effect test

Embodiment Construction

[0053] The present invention will be further described below in conjunction with the accompanying drawings.

[0054] refer to Figure 1 to Figure 23 , a robotic multi-fingered dexterous hand based on pneumatic flexible actuators, including five fingers and a palm 6, with five finger mounts inside the palm; the five fingers are thumb 1, index finger 2, middle finger 3, and ring finger 4 And little finger 5, wherein: index finger 2, middle finger 3, ring finger 4 and little finger 5 have the same structure, respectively have 4 joints, 4 knuckles, first carpal bone 23 and first fingertip 18, and described 4 joints include three a bending joint and the first side pendulum joint IV; the four knuckles are respectively the first far knuckle 19, the first middle knuckle 20, the first proximal knuckle 21 and the first metacarpal joint 22, the first far knuckle The upper end of the joint 19 is connected with the first fingertip 18, the lower end of the first distal knuckle 19 is connec...

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Abstract

The invention provides a multi-finger flexible hand of a robot based on a pneumatic flexible driver, which comprises five fingers and a palm, wherein five finger mounting seats are arranged inside the palm; the five fingers are a thumb, a forefinger, a middle finger, a ring finger and a little finger respectively; a bent joint comprises the pneumatic flexible driver, a hinge rotary pair and two positioning plates; two sides of the hinge rotary pair are fixedly connected with the positioning plates; a front end closure and a rear end closure of the pneumatic flexible driver are fixedly connected with the two positioning plates; a side-sway joint comprises two pneumatic flexible drivers and an axial telescopic hinge; the axial telescopic hinge is a telescopic rotary pair formed by two movable components through a gain structure; the movable components are connected with front end closures and rear end closures of the pneumatic flexible drivers; and axial lines of the two pneumatic flexible drivers are parallel and vertical to the axial line of a hinge pin roll. The multi-finger flexible hand has the advantages of simple structure, good flexibility and good applicability.

Description

technical field [0001] The invention relates to a robot dexterous hand. Background technique [0002] The end effector is the executive component that the robot interacts with the external environment. With the rapid development of modern science and technology, the application of robots is not only limited to the industrial field, but gradually applied to fields such as agriculture, medical care and services. The operating objects of the robot are gradually becoming more diverse and complex, which requires the end effector of the robot to be as flexible and safe as a human hand. However, traditional industrial robot end effectors often have strong specialization, simple movements, poor flexibility, and lack of perception. These shortcomings make traditional robot end effectors unable to meet the needs of today's society. The robot multi-fingered dexterous hand is based on the human hand, imitating the human hand in terms of structure and function, with 3-5 fingers and mul...

Claims

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Application Information

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IPC IPC(8): B25J15/10B25J3/04
CPCB25J15/0009
Inventor 张立彬王志恒杨庆华钱少明鲍官军
Owner ZHEJIANG UNIV OF TECH
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