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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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  • Summary
  • 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 present invention has the advantages of simple structure, low manufacturing cost, small number of drives, easy control, and can realize different shapes, Gripping of objects of different sizes

Method used

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Embodiment Construction

[0021] The specific implementation manner of the present invention will be described below in conjunction with the accompanying drawings.

[0022] A bionic flexible wrist, comprising a top plate 1 and a palm mounting plate 2, two wiring holes are opened on the top plate 1; fixed pulleys 5, 6 and hinges 7-10 are installed on the top plate 1; A hinge 11-14 is installed on the mounting plate 2; the hinge 11-14 is respectively connected to the hinge 7-10 on the top plate through a swing bar 15-18; a fixed pulley 19-20 is installed on the palm mounting plate 2; A shape memory alloy 21 is installed on the palm mounting plate 2; connecting rods 22-25 are installed through hinges on the palm mounting plate 2; each of the connecting rods 22-25 is fixedly connected with a gear, wherein gear one and Gear 2 cooperates, gear 3 cooperates with gear 4; the connecting rods 22-25 are connected to the finger mounting plates 30-33 through hinges; the finger mounting plates 30-33 are each equippe...

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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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