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Multi-joint linked multi-finger dexterous hand

A multi-joint, dexterous hand technology, applied in the field of robotics, can solve the problems of high cost, complex control of robot dexterous hands, poor grasping adaptability, etc., and achieve the effect of reducing driving devices, reliable grasping, and simplifying control devices

Inactive Publication Date: 2010-02-17
BEIHANG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The main purpose of the present invention is to solve the problem of poor grasping adaptability of the existing gripper due to the rigidity of the fingers, and the problem of complex control and high cost of the robot dexterous hand due to the need for multiple motor drives

Method used

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  • Multi-joint linked multi-finger dexterous hand
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  • Multi-joint linked multi-finger dexterous hand

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Embodiment Construction

[0027] The specific embodiments of the present invention will be further described in detail below in conjunction with the accompanying drawings.

[0028] Such as figure 1 As shown, the present invention takes a multi-joint linkage multi-fingered dexterous hand provided with three fingers and each finger is provided with three joints as an embodiment. Of course, the number of fingers and joints can be changed at any time according to different needs, and The quantities of both are not necessarily the same. That is, the number of fingers can be two, three, four or five, or even more than five; and the number of joints can also be two, three, four, five, six or even more than six. In the present invention, the fingers are distributed on both sides of the palm in a staggered shape, so as to prevent the fingers from colliding with each other when the dexterous hand grips a small object.

[0029] Such as figure 1 with figure 2 As shown, the multi-joint linkage multi-fingered d...

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Abstract

The invention discloses a multi-joint linked multi-finger dexterous hand which comprises a palm part and a plurality of finger parts used for grasping articles, wherein one end of each finger part ispivotally connected with the palm part; each finger part comprises a plurality of finger rods which are pivotally connected to form a whole body in sequence, and a transmission device is arranged among all finger rods and connected with a driving device arranged in the palm part. The dexterous hand can be driven only by one motor and also enable each finger part to be driven by an independent motor, and ensures that the control structure is relatively simple. The dexterous hand can envelope and grasp articles like a human hand while grasping the articles and improves the grasping stability.

Description

technical field [0001] The invention relates to a clamping device, and more specifically relates to a multi-joint linkage multi-finger dexterous hand which can be used in scientific experiments, aerospace, industry, entertainment and other fields, and belongs to the field of robots. Background technique [0002] With the development of science and technology, robots have been used more and more widely, and the dexterous hand or robot gripper in the robot is the basic tool for the robot to complete the operation. Although various dexterous hands or grippers have appeared, usually the gripper is composed of rigid fingers, resulting in a single function of the gripper and poor adaptability, and it needs to be replaced when grasping different objects Different grippers are not only inconvenient to use, but also increase the cost; although the robot dexterous hand is composed of fingers with multiple joints, it has strong adaptability, but each joint of the fingers needs to be dr...

Claims

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Application Information

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IPC IPC(8): B25J15/08B25J15/12
Inventor 战强杨双龙蔡尧杨睿
Owner BEIHANG UNIV
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