Sliding block type direct under-actuated bionic hand device with changeable holding power

Abstract

The invention relates to a sliding block type direct under-actuated bionic hand device with changeable holding power, belonging to the technical field of an anthropomorphic robot; the device comprises a thumb, a forefinger, a middle finger, a third finger, a little finger and a palm; the device is provided with five fingers which can be independently controlled and fifteen joint freedom degrees, and is driven by six motors, so as to realize to imitate the appearance of human hand and griping action and be suitable for the anthropomorphic robot. The forefinger, the middle finger, the third finger and the little finger adopt modular structures, so as to lead parts to have strong popularity and cause the manufacturing and maintaining cost to be low. All fingers utilize a connecting rod mechanism, a sliding block shifting pair, a sheathing finger section and the spring piece to comprehensively realize multi-joint finger direct under-actuated self-adaption and special effect of changing holding power. The device has the function of gripping with changeable force, the gripping force is large and can firmly grip an object, the griping is stable, and the range of griping objects is wide; meanwhile, the device has multi-joint under-actuated self-adaption gripping effect, so as to be adaptive to the size and shape of the gripped object automatically and lower requirements to a control system.

Description

A slider-type direct underactuated bionic hand device with variable grip technical field The invention belongs to the technical field of anthropomorphic robot hands, and in particular relates to the structural design of a sliding block type direct underactuated bionic hand device with variable grip. Background technique Various technologies have been used to realize the bionic hand mechanism. But in the current research, there are some technical difficulties. For example, in order to realize the multi-degree-of-freedom dexterous hand, more motors are needed to provide power. However, the increase in the number of motors will not only lead to a complex control system, but will also make the whole bionic hand mechanism huge, destroying its anthropomorphism. Under-actuation technology is one of the solutions that can better solve this contradiction. By utilizing an underactuated mechanism, more joint degrees of freedom can be driven by fewer motors. It has the outstanding...

AI Technical Summary

Problems solved by technology

Although the appearance is basically anthropomorphic, the steel wire rope has a small bearing capacity, resulting in small finger force

In addition, multiple sets of wire ropes and sheave mechanisms are quite complicated, and if the wire rope is not pulled tightly, it will not be able to meet the more precise control and driving requirements. If the wire rope is pulled too tightly and its life is not long, the wire rope is more likely to break, and maintenance is time-consuming and laborious.

If high-performance steel wire rope or special material tendon rope is used, the cost is very expensive

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