Bionic robot under-actuated delicacy hand device

A bionic robot and underactuated technology, applied in the field of anthropomorphic robots, can solve the problems of large differences between human hands, failure to achieve grasping effect, and affecting grasping effect, etc.

Inactive Publication Date: 2009-07-08
TSINGHUA UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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...

Method used

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  • Bionic robot under-actuated delicacy hand device
  • Bionic robot under-actuated delicacy hand device
  • Bionic robot under-actuated delicacy hand device

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Embodiment Construction

[0069] The content of the specific structure and working principle of the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments.

[0070] The overall embodiment of the bionic robot underactuated dexterous hand device designed by the present invention is as follows figure 1 , figure 2 , image 3 , Figure 4 As shown, palm 1, thumb 2, index finger 3, middle finger 4, ring finger 5 and little finger 6 are included. The partial cross-sectional view of the front of this embodiment is as figure 1shown.

[0071] Appearance and cross-section of the thumb are as follows Figure 5 , Figure 6 and Figure 7 As shown (the thumb base is not completely drawn), the partial connection relationship of the thumb is shown as Figure 8 and Figure 9 shown. The appearance and cross-sectional view of the index finger of the present embodiment are as follows: Figure 10 , Figure 11 , Figure 12 and Figure 13 As show...

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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...

Claims

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Application Information

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IPC IPC(8): B25J15/00B25J19/00F16H25/20
CPCB25J15/0009
Inventor 张文增侯宇
Owner TSINGHUA UNIV
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