Hand four fingers side extending apparatus of bionic robot

Abstract

The invention discloses a four-finger lateral expansion device for a hand of a biomimetic robot, which belongs to the technical field of anthropomorphic robots. The device comprises a forefinger, a middle finger, a third finger, a little finger, a palm, a motor, a primary rotating shaft and a first transmission mechanism. The transmission device comprises a driving rotating disc, a first connecting rod, a forefinger rotating disc, a forefinger rotating shaft, a second connecting rod, a third finger rotating disc, a third finger rotating shaft, a third connecting rod, a little finger rotating disc and a little finger rotating shaft. The device adopts single-motor drive and a connecting rod transmission mechanism to realize four-finger lateral expansion and collection of the hand of the robot comprehensively, so that hand of the robot can grab objects in a grabbing posture of collecting or expanding a certain angle, achieve better enveloping and grabbing effect and more stability when grabbing the object and complete more anthropomorphic gestures. Therefore, the hand of the robot is much more like a human hand in terms of both object grabbing and gesture completing. The device is simple and compact in structure, low in manufacturing cost, easy to control and applicable to anthropomorphic robots.

Description

technical field [0001] The invention belongs to the technical field of anthropomorphic robots, and in particular relates to a structural design of a four-finger lateral extension device for a bionic robot hand. 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. Like human beings, most functions of anthropomorphic robots are realized through hand manipulation, so hand structure is an important part of anthropomorphic robots, and its design is one of the key technologies of anthropomorphic robots. [0003] Most of the existing dexterous hands (such as the Robonaut hand in the United States, the V5 hand of the British Shadow company, the HIT / DLR hand developed by Sino-German cooperation, and the BH hand of Beihang University, etc.) use very complicated multi-gear transmission mechanisms to achieve the index ...

AI Technical Summary

Problems solved by technology

Its disadvantages are: the structure of the device is complex, the cost is high, and the difficulty of real-time control is aggravated due to the excessive number of actively driven motors

Its disadvantages are: the index finger, middle finger, ring finger and little finger of the robot hand do not have finger side extension movement, which makes it difficult to achieve a better three-dimensional envelope grasping effect when grasping common objects, and the grasping object is not stable enough. Difficulty performing common gestures like the "V" sign, the "OK" sign, etc.

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