Man-like robot finger side-swaying device

Abstract

The invention relates to a finger lateral motion device of an anthropomorphic robot, which belongs to the technical field of anthropomorphic robots and comprises a forefinger, a middle finger, a third finger, a little finger, a palm, a motor, a screw transmission mechanism and a first transmission mechanism. The first transmission mechanism comprises a sliding plate straight rod, a forefinger connecting rod, a forefinger pinion and rack mechanism, a third finger connecting rod, a third finger pinion and rack mechanism, a little finger connecting rod and a little finger pinion and rack mechanism. The device adopts motor drive and the pinion and rack mechanisms to realize the lateral motion and gathering motion of the fingers of a hand of the robot comprehensively, so when gripping an object, the hand of the robot can assume a gesture that the fingers gather or move laterally at a certain angle so as to achieve a better enveloping and gripping effect, grip the object stably and complete more anthropomorphic gestures. The robot hand is more similar to a human hand in terms of both object gripping and gesture. The device is simple and compact in structure, low in manufacturing cost, easy to control and applicable to the hands of 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 hand and finger side swing device of an anthropomorphic 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. 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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