Tendon-tether parallel dexterous underactuated biomimetic robotic hand device

Abstract

The invention discloses a tendon rope parallel skillful under-driven bionic robot finger device, which belongs to the technical field of anthropomorphic robots. The device is provided with 5 independently-controlled fingers and 14 joint freedom degrees and driven by 10 motors, wherein the middle finger, the ring finger, the little finger and the index finger have the same structures and are in double-motor driven three-joint rotations; and the thumb is fixedly connected in a palm and is in double-motor driven two-joint rotation. The fingers have similar structures, and comprehensively achieve the special effect of combining variable primary configuration and adaptive grab of the fingers by using motors, tendon ropes and reset spring pieces. The device can flexibly bend the middle joint of the finger before grabbing to reach a stable anthropomorphic pre-bending posture and grab an object in an adaptive under-driven mode during grabbing. The device has the advantages of compact structure, high integration degree and appearance, size, form and action close to human hands, can stably grab and automatically adapt to the objects with different shapes and sizes, also can perform simple operation, and is suitable to be used as an output terminal of the anthropomorphic robot.

Description

technical field [0001] The invention belongs to the technical field of anthropomorphic robots, and in particular relates to the structural design of a smart underactuated bionic robot hand device with tendons and ropes connected in parallel. 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. Similar to humans, most functions of anthropomorphic robots are realized through hand manipulation, so the hand structure is an important part of anthropomorphic robots, and its design is one of the key technologies of anthropomorphic robots. [0003] In the past 30 years, the research on dexterous hands has achieved fruitful results. The dexterous hand has 3 to 5 fingers, and each finger has 2 to 4 joint degrees of freedom. Most of the joints are active joints driven by motors, air muscles, and hydraulic pressure. ...

AI Technical Summary

Problems solved by technology

The disadvantage of this device is that before touching the object, the middle and end fingers of each finger can only be straightened and rotate around the proximal joint axis as a whole, which affects the grasping effect

[0007] There are also traditional robotic devices with rigid fingers, which have fixed curved finger configurations, which imitate the most common finger gestures when humans grab objects, but the bending state of the fingers of such devices is fixed and cannot change the bending angle, and The number of joint degrees of freedom is too small to meet the grasping needs of objects of different sizes

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