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Hand-shaped manipulator

A manipulator and anthropomorphic technology, applied in the field of anthropomorphic manipulators, can solve problems such as inaccuracy, thick knuckle corners, etc., and achieve the effect of flexible and precise operation, small size and light weight

Active Publication Date: 2014-11-26
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The manipulator controlled by the gear set structure, due to the space requirements of the gears and the characteristics of the gears, the knuckles are thick and the knuckle angles are not accurate

Method used

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Embodiment Construction

[0024] A humanoid manipulator provided by the present invention will be described in detail below in conjunction with the accompanying drawings.

[0025] Such as figure 1 and figure 2 As shown, the anthropomorphic manipulator of the present invention includes a hand, a wrist 5 and a forearm. The hand includes palm 4 and five fingers, and the fingers are divided into three types: A-type finger 2, B-type finger 3 and thumb 1. A-type fingers 2 and thumb 1 realize grasping, and B-type fingers 3 are auxiliary fingers, which can better envelop objects in general grasping work. The general size of the manipulator, including the length of the fingers, the size of the palm 4, and the envelope of the forearm, is determined according to the work requirements.

[0026] As shown in Figure 3(a), Figure 3(b) and Figure 3(c), the A-type finger 2 includes A-type distal phalanx 15, A-type middle phalanx 13, A-type proximal phalanx 12, A-type base phalanx 10 and A-type base 9, the two ends ...

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Abstract

The invention discloses a hand-shaped manipulator which mainly comprises a hand, a wrist and a front arm, wherein the hand comprises a palm, A-type fingers, B-type fingers and a thumb. Grabbing is achieved through the A-type fingers and the thumb, and the B-type fingers are auxiliary fingers. Each A-type middle phalanx, each A-type proximal phalanx and each A-type base phalanx are controlled independently and respectively through four tendon ropes. Due to the fact that the B-type fingers have auxiliary functions, an underactuation control mode is adopted, and active control is performed on each middle phalanx through two tendon ropes. A thumb distal phalanx, a thumb middle phalanx and a thumb proximal phalanx are controlled independently through five tendon ropes. A wrist joint is matched with a spherical hinge through a cardan joint, and pitching and sideway moving can be achieved by means of telescopic movement of a pull rod. Parts of the manipulator can be manufactured easily, cost is low, and the manipulator has multiple functions achieved by a hand of a human, such as capturing, holding, grabbing, switch turning and the like. The hand-shaped manipulator is small in size, light in weight, flexible and accurate in operation, low in cost and wide in application prospect.

Description

technical field [0001] The invention belongs to the technical field of industrial robots, in particular to an anthropomorphic manipulator. Background technique [0002] With the development of society and the advancement of science and technology, people try to build machinery and equipment in various fields such as industrial production to replace manual operations. The most common of these is robotic equipment. Anthropomorphic manipulators can repeat the functions that human hands can achieve to the greatest extent, and compared with ordinary industrial machinery and equipment, they are more precise, more flexible, and more controllable. The main manipulator drive methods are hydraulic, pneumatic and mechanical. However, the precision of ordinary pneumatic operation is not high, and the hydraulic circuit in the manipulator controlled by hydraulic pressure occupies a large volume. The mechanical type mainly controls knuckle turning for the gear set structure. The manipu...

Claims

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Application Information

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IPC IPC(8): B25J15/10
Inventor 聂宏颜文彧王小涛陈萌韩亮亮陈炎
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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