Humanoid hand in underactuation exquisite transmission structure

A transmission structure and human-like technology, which is applied in the field of humanoid robots, can solve the problems of large overall size and complex structure, and achieve the effect of simple and compact structure, small volume and fewer motors

Active Publication Date: 2013-04-03
BEIJING INSTITUTE OF TECHNOLOGYGY
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

The disadvantage of this device is still that the structure is relatively co

Method used

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  • Humanoid hand in underactuation exquisite transmission structure
  • Humanoid hand in underactuation exquisite transmission structure
  • Humanoid hand in underactuation exquisite transmission structure

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Embodiment Construction

[0020] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments, but not as a limitation of the present invention.

[0021] see figure 1 , a humanoid hand device of an under-actuated exquisite transmission mechanism, generally composed of a palm (14), a thumb (15), an index finger (16), a middle finger (17), a ring finger (18), and a little finger (19); wherein The fingers include the first phalanx (1), the second phalanx (2), the third phalanx (3), the fourth phalanx (4), the first-stage cylindrical gear (5), the movable crown gear (6), Fixed crown gear (7), secondary cylindrical gear (8), cylindrical gear transmission shaft (12), crown gear connecting shaft (9), motor (11), reducer (10) and joint positioning column (13). A reducer (10) is fixed on the first knuckle (1), and a motor (11) is connected to the lower side of the reducer (10). At the same time, the reducer is connected to a primary cylindrical ge...

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Abstract

The invention discloses a humanoid hand in an underactuation exquisite transmission structure. The hand consists of five fingers, the thumb is composed of two joints, and other fingers respectively consist of three joints. The fingers except the thumb mainly consist of crown gears, cylindrical gears, crown gears connecting shaft and other relevant parts, all the joints are tightly connected into a whole, and the rotation of each finger can be realized through one motor: firstly, the first cylindrical gear is driven by a motor, the left crown gear and the right crown gear engaged with the first cylindrical gear rotate in the opposite direction, the finger joint rotation is realized, and meanwhile, the other cylindrical gear engaged with the finger joints is driven to rotate, so the transmission is transmitted to the next finger joint; and the transmission mode of the next two joints is similar to the former transmission mode. The humanoid hand in the exquisite transmission structure has the advantages that the structure is simple and compact, the transmission precision is high, the installation is convenient, the weight is light, the size is small, the required motors are few, and the humanoid hand is suitable for being used as the humanoid hand or being used on a mechanical arm.

Description

technical field [0001] The invention belongs to the technical field of humanoid robots, and in particular relates to a hand-like mechanism design of an underactuated exquisite transmission mechanism. Background technique [0002] Humanoid robot is the closest robot to human beings. Compared with traditional wheeled robots or crawler robots, humanoid robots are closer to the daily life environment of human beings, and at the same time, it is easier to use various tools designed for human inventions. Therefore, Humanoid robots have broad prospects for development. [0003] Similar to human beings, many functions of humanoid robots are realized through hand operation, so the robot hand is an integral part of the robot. Compared with other parts of the robot, the humanoid hand has more degrees of freedom, small size, and very dexterous. Control complex and other characteristics and difficulties. Although the existing dexterous hands are flexible in control, their structures ar...

Claims

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Application Information

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IPC IPC(8): B25J15/10B25J17/02
CPCB25J15/0009
Inventor 张伟民黄强陈晓鹏黄高
Owner BEIJING INSTITUTE OF TECHNOLOGYGY
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