Humanoid flexible mechanical arm device

Abstract

The invention discloses a humanoid flexible mechanism arm device which comprises five fingers which are driven by six motors. Modular structures with same structures are adopted on four fingers (an index finger, a middle finger, a third finger and a little finger). Special effects of finger coupling transmission are achieved by a manner that the one motor, a reduction gearbox, a transmission mechanism and a flexible body are comprehensively utilized on the modular fingers. A thumb is driven by two motors, a pair of duplex bevel gears and a cross-shaped shaft are applied on a base joint transmission system to achieve buckling and side-sway movements, and good transmission effects and arrangement of the thumb and a palm are achieved. Each finger is provided with three joints which include a base joint, a middle joint and a far joint, the speed ratio is close to 1: 1: 1, and the mechanical arm is enabled to be close to a movement pattern of a hand. The humanoid flexible mechanical arm device has the advantages of being large in fingertip output force and rigidity, compact in structural arrangement, high in humanization degree, stable in grab and the like.

Description

technical field [0001] The invention relates to a humanoid mechanical dexterous hand device. Background technique [0002] Under the current situation that we are constantly expanding our own activity space, there are some dangerous and unknown occasions that we cannot enter by ourselves, such as robot astronauts, nuclear equipment maintenance, and explosive discharge and other application occasions. The activity ability and operation level of the robot end effector are of great significance to the completion of the robot's work tasks. [0003] Most of the traditional robot end effectors have only few joints and degrees of freedom due to the specific shape of the manipulated object, which limits its application range. They have poor versatility and unsatisfactory force closure, so it is difficult to achieve grasping accuracy, stability and reliability for objects of different shapes. Facing a wider range of applications, modern humanoid dexterous hands with multiple finger...

AI Technical Summary

Problems solved by technology

The first is the design of the finger structure and the layout of the fingers, including the geometric dimensions of each part of the dexterous hand, the number of fingers, the number of joints, the distribution of degrees of freedom, the selection of driving components and transmission methods, etc. determine the degree of dexterity it can achieve. The basis of the dexterous hand system; the second is the sensor system, and the sensor is extremely important to improve the operating performance and operation accuracy of the dexterous hand; the third is kinematics and dynamics, the dexterity and stability of the dexterous hand for grasping require dexterity The degree of freedom and range of motion of the hand has been greatly improved, and it has greatly increased the difficulty of analyzing the kinematics and dynamics of the multi-fingered hand; the fourth is the control system of the dexterous hand, the system structure of the dexterous hand, the unknown model parameters, the control The uncertain factors of the process and the diversity and uncertainty of the operating objects increase the difficulty of the research of the control system.

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