A tendon-type underactuated adaptive multi-fingered hand device

Abstract

The invention discloses a tendon type under-driving self-adaptation multi-finger device, and belongs to the technical field of anthropomorphic robot. According to the tendon type under-driving self-adaptation multi-fingers device, a forefinger (2), a middle finger (3) and a ring finger (4) are the same in driving mechanisms, and different in sizes. A driving principle of a thumb (1) and principles of other fingers are the same, and a mechanism which can imitate movement of the thumb of a human hand. Tendons (37) are fixed on the tail finger knuckles of the fingers and are guided direction through pulley wheels (32) on the finger knuckles. A left torsion spring and a right torsion spring are installed on each finger knuckle. One ends of the fingers are fixedly connected on a metacarpus (6) which is provided with a tendon groove and a leading pulley wheel (7), and the tendons are guided into a driving unit of an arm. A rubber sheet (5) is installed on each finger knuckle. According to the tendon type under-driving self-adaptation multi-fingers device, number of driving devices is small, each finger only needs one motor to drive, structure is simple, control difficulty is low, and self-adaptation enveloping capturing for objects can be achieved.

Description

technical field [0001] The invention relates to a robot hand, in particular to a multi-fingered manipulator device which simulates a human hand and can be used in scientific research, aerospace and artificial limbs for the disabled, and belongs to the field of bionic robots. Background technique [0002] With the tremendous development of science and technology, the application of robots is becoming more and more extensive, and the market prospect is gradually emerging. The end effector of the robot directly affects the effect of the robot performing tasks, so the research on the end effector of the robot is very important. At the same time, due to the dexterity of human hands, the research on humanoid manipulators has attracted a large number of researchers. The application prospect of the humanoid manipulator is even broader. It can be used as a prosthesis for the disabled, or enter high-risk areas for more complex operations, or replace humans for industrial production a...

AI Technical Summary

Problems solved by technology

Although various humanoid dexterous hand models have been researched at present, they have many shortcomings, which make them unable to reach the stage of practical application. The shortcomings are as follows: (1) There are too many drivers, and each joint has a driver to drive, so that The control process is very complicated, resulting in a large volume and high cost; (2) The gripping force is small and the usable range is relatively small

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