Anthropomorphic dexterous hand device driven by single motor

Abstract

The invention discloses an anthropomorphic dexterous hand device driven by a single motor. The device is mainly used for grabbing by using four under-actuated structure fingers with shape self-adaptive functions and a transmission unit which is arranged in a palm and is used for driving a plurality of fingers to move with a single motor. The device is driven by a single motor and is used for transmitting motion and power through the transmission unit which is connected with each finger, so that the fingers are bent for realizing a grabbing action. A dexterous hand consists of a thumb, an index finger, a middle finger, a litter finger and a palm, 12 joint freedom degrees are provided, and four fingers have the same structure and different sizes. The device has the advantages of compact design, high integration degree and grabbing flexibility and stability. Due to the adoption of the under-actuated structures, the controlling difficulty is lowered; in the device, a modular design can beadopted, so that the structural integration level is high, the element generality is high, and the manufacturing and maintaining costs are low; and high-intensity resin is taken as a material, so that the weight is light and grabbing is reliable.

Description

technical field [0001] The invention belongs to the technical field of humanoid robots, and relates to a humanoid dexterous hand device driven by a single motor. Background technique [0002] Most functions of anthropomorphic robots need to be realized through hand manipulation. The research on hand mechanism is an important part of anthropomorphic robot research, and its design is one of the key technologies of anthropomorphic robot technology. With the advancement of technology, people hope that the manipulator will be more anthropomorphic, which requires increasing the degree of freedom of the manipulator, but in order to control the volume and weight of the hand and reduce the difficulty of controlling the hand of an anthropomorphic robot, it is necessary to reduce the number of drives. There is a certain contradiction, and the underactuated device with shape adaptive function can just solve this contradiction. The so-called underactuated mechanism refers to the mechani...

AI Technical Summary

Problems solved by technology

[0004] The disadvantages of this device are: multiple four-bar linkage mechanisms that realize the sequential rotation of finger knuckles are complex and high in manufacturing costs; fingers designed with four-bar linkages are not suitable for use on humanoid robots

[0006] Disadvantages of the device: Each finger is driven by a motor, which makes the finger size too large and looks very different from a human hand

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