Anthropomorphic dexterous hand device driven by single motor

A single-motor-driven, dexterous hand technology, applied in the field of anthropomorphic robots, can solve the problems of complex four-bar linkage, large finger size, and high manufacturing cost, and achieve the effects of light weight, strong parts versatility, and low manufacturing and maintenance costs.

Inactive Publication Date: 2012-02-29
HANGZHOU DIANZI UNIV
View PDF11 Cites 29 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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 fou

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Anthropomorphic dexterous hand device driven by single motor
  • Anthropomorphic dexterous hand device driven by single motor
  • Anthropomorphic dexterous hand device driven by single motor

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0040] The invention relates to a single-motor-driven humanoid dexterous hand device. The specific structure and working principle of the invention will be described below in conjunction with the accompanying drawings:

[0041] The working principle of underactuated fingers: the four fingers are designed according to the human hand, and the structure is exactly the same, and the thumb is only different in size, such as figure 1 , figure 2 As shown: the finger is composed of three joints: the proximal joint 8, the middle joint 13 and the distal joint 18. Each joint has a corresponding joint cover. The joint and the joint cover are connected by screws, and each joint cover is equipped with a flexible rope that can pass through it. through holes. Joints are connected with joints through pin shafts, sleeves are sheathed on the pin shafts, torsion springs are sheathed on the sleeves, and the two ends of the torsion springs are respectively fixed on the two connected joints. Such...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

PUM

No PUM Login to view more

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...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

Application Information

Patent Timeline
no application Login to view more
IPC IPC(8): B25J15/00B25J15/10
Inventor 周建军卜夺夺黄共乐
Owner HANGZHOU DIANZI UNIV
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Try Eureka
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap