A bionic flexible wrist

A flexible, wrist-hand technology, applied in the field of bionic flexible wrist-hand, can solve the problems of difficult control, small number of drives, high manufacturing cost, etc., and achieve the effect of small number of drives, low manufacturing cost, and easy control

Active Publication Date: 2017-03-01
JIANGNAN UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] In view of the shortcomings of the above-mentioned existing manipulators, such as difficult control and high manufacturing cost, the applicant provides a bionic flexible wrist hand. The

Method used

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Example Embodiment

[0021] The specific embodiments of the present invention will be described below with reference to the accompanying drawings.

[0022] A bionic flexible wrist hand, comprising a top plate 1 and a palm mounting plate 2, the top plate 1 is provided with two wiring holes; the top plate 1 is provided with fixed pulleys 5, 6 and hinges 7-10; the palm Hinges 11-14 are installed on the mounting plate 2; the hinges 11-14 are respectively connected with the hinges 7-10 on the top plate through the swing rods 15-18; fixed pulleys 19-20 are installed on the palm mounting plate 2; A piece of shape memory alloy 21 is installed on the palm installation plate 2; connecting rods 22-25 are installed on the palm installation plate 2 through hinges; The second gear cooperates, the third gear cooperates with the fourth gear; the connecting rods 22-25 are connected with the finger mounting plates 30-33 through hinges; an adaptive soft finger is installed on each of the finger mounting plates 30-33...

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PUM

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Abstract

The invention relates to a bionic flexible wrist hand, which comprises a top plate and a palm installing plate, wherein two wire distributing holes are formed in the top plate, two fixed pulleys and four hinges are arranged on the top plate, four hinges are arranged on the palm installing plate, and are respectively connected with the four hinges arranged on the top plate through four swinging rods, two fixed pulleys are arranged on the palm installing plate, a shape memory alloy is arranged on the palm installing plate, four connecting rods are arranged on the palm installing plate through hinges, a gear is fixedly connected onto each connecting rod, the gear 1 is matched with the gear 2, the gear 3 is matched with the gear 4, the four connecting rods are connected with four finger installing plates through hinges, and a self-adapting flexible finger is arranged on each of the four finger installing plates. The bionic flexible wrist hand has the advantages that the structure is simple, the driving control is realized, the palm adopts a shear fork mechanism and is provided with the shape memory alloy, ad the stable grabbing on objects in different shapes and different sizes can be realized.

Description

technical field [0001] The invention relates to the application field of robots, in particular to a bionic flexible wrist-hand. Background technique [0002] As an important part of the robot, the robot hand has become the research object of more and more robot researchers. At present, the robot hand is mainly divided into two categories: dexterous hand and underactuated hand. The dexterous hand is mainly an imitation of the human hand, which can flexibly complete most of the actions that can be completed by the human hand under the combined effects of the control algorithm, sensor system, and control system. However, the dexterous hand is difficult to manufacture, complicated to control, expensive, and difficult to maintain. . The underactuated hand can achieve more joint degrees of freedom through a smaller number of drivers, and has adaptive ability when grasping objects. At the same time, the device cost is low and the control is simple. However, the motion form of the ...

Claims

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Application Information

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IPC IPC(8): B25J15/10B25J15/12
Inventor 张秋菊陈宵燕孙沂琳陈海卫
Owner JIANGNAN UNIV
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