Tendon-type four finger abducting device of a robot hand

Abstract

The tendon-type four finger abducting device of a robot hand pertains to the technical field of robots. The device consists of index finger, middle finger, ring finger, little finger, palm, motor, spring and traction mechanism. The traction mechanism comprises driving axle, tendon rope, dead axle, nut, rolling bearing and baffle plate. This device adopts single-motor drive and tendon rope actuatorto jointly realize the abduction and adduction of the four fingers of a robot hand so that the robot hand may adopt the grab gestures at specific angles of abduction and adduction when it grabs an object, a better enveloping and grabbing effect can be realized, the object is grabbed more stably, and more personated gestures can be performed; the robot hand is more like human hand when it grabs anobject and completes a gesture. This device is characterized by a simple and compact structure, low manufacturing cost, easy control and is applicable to personated robot hands.

Description

Robot hand tendon type four-finger lateral extension device technical field The invention belongs to the technical field of anthropomorphic robots, and in particular relates to the structural design of a robot tendon-type four-finger lateral extension device. Background technique 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. 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 transmissio...

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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