Bionic robot under-actuated delicacy hand device

Abstract

A bionic robot under-driven flexible hand device belongs to the technical field of anthropomorphic robot, and mainly comprises a thumb, a forefinger, a middle finger, a ring finger, a little finger and a palm. The device is provided with five independently controller fingers and fifteen joint freedoms, and is controlled by ten motors. The structures of four fingers (the forefinger, the middle finger, the ring finger and the little finger) are same. The variable initial configuration of finger and special effect of partial-coupling self-adapting grasping are realized through double motors, a transmission mechanism, a flexible component and reed component. The four fingers bend the second middle finger segment before grasping an object and the bottom finger segment bends for obtaining an excellent grasping preparing gesture. The robot hand is closer to man hand. The device of the invention has the advantages of compact structure, high integrity, external appearance, dimension and shape closer to man hand, capability for stably grasping and automatically adopting for objects with different shapes and dimensions. The device of the invention is used for anthropomorphic robot.

Description

technical field [0001] The invention belongs to the technical field of anthropomorphic robots, and in particular relates to the structural design of an underactuated dexterous hand device of a bionic robot. 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. [0003] A purely active-driven dexterous hand with high degrees of freedom usually has 3-5 fingers, and each finger has 3-4 actively-driven joint degrees of freedom. The dexterous hand can perform almost all kinds of movements of the human hand, which can be divided into two types of movements: grasping and mani...

AI Technical Summary

Problems solved by technology

The disadvantage of this device is that before touching an object, the middle finger segment and the end finger segment can only be straightened and rotate around the proximal joint axis as a whole. This effect is more feasible to imitate the thumb, but if it is used to imitate The human hand has a three-joint index finger, middle finger, ring finger and little finger, which are still quite different from the human hand (the middle joint of the human hand has certain characteristics of active rotation), which greatly affects the grasping effect.

In addition, considering the actual situation of grasping objects by the index finger, middle finger, ring finger and little finger of the human hand, the end joints usually rotate synchronously with the middle joints, and the rotation angles of the two have a certain synergistic effect. This hand failed to achieve such a good grasping effect

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