All-drive type smart manipulator

Abstract

The invention discloses an all-drive type smart manipulator. The all-drive type smart manipulator comprises a chute type palm, four fingers and a thumb, wherein the thumb and the four fingers respectively sequentially comprise an upper metacarpophalangeal joint, a middle metacarpophalangeal joint, a lower metacarpophalangeal joint and a basic joint, the basic joints of the four fingers are respectively arranged in the chute type palm in parallel in the same direction by virtue of respective rectangular fixed blocks; the basic joint of the thumb is vertically arranged on the chute type palm by virtue of a round fixed block on a thumb mounting and adjusting structure, the thumb mounting and adjusting structure is arranged in a chute at the lower part of the chute type palm, and the mounting position and orientation of the thumb are manually adjusted and fixed; and the five fingers respectively form three driving curve degrees of freedom and one driving sway degree of freedom, so that twenty driving degrees of freedom are formed in total. The fingers are all driven by adopting a built-in stepping motor, a spiral bevel gear is adopted to realize rotation of the joints, and the kinematic accuracy is high. The orientation and mounting position of the thumb can be adjusted in the mechanical structure in the invention, thus the dexterity and grabbing stability of the manipulator are improved, and the grabbing space of the manipulator is increased.

Description

technical field [0001] The invention relates to a robot manipulator, in particular to a fully driven dexterous manipulator with 20 active degrees of freedom and adjustable orientation and installation position of the thumb. Background technique [0002] With the rapid development of modern science and technology and the continuous expansion of robot application fields, the original robot end effector can no longer meet today's production needs. In order to overcome the shortcomings of ordinary end effectors such as single clamping method, small movable space, lack of flexibility, and difficulty in precise control, a dexterous manipulator (referred to as dexterous hand) came into being. The dexterous hand has multiple degrees of freedom, can grasp objects of various shapes and materials, and can also perform fine manipulations on the grasped objects. Using it instead of a special gripper and installing it at the end of the robot manipulator can not only expand the working ra...

AI Technical Summary

Problems solved by technology

[0002] With the rapid development of modern science and technology and the continuous expansion of robot application fields, the original robot end effector can no longer meet today's production needs.

In order to overcome the shortcomings of ordinary end effectors such as single clamping method, small movable space, lack of flexibility, and difficulty in precise control, the dexterous manipulator (dexterous hand for short) came into being

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