Three-finger flexible hand performing device of robot

Abstract

The invention discloses a three-finger flexible hand performing device of a robot. The three-finger anthropomorphic manipulator is of a tendon transmission structure on the basis of the underactuation principle, and is simple to control and small in cost; shape of an object can be adapted during grasping; the grasping control is achieved by the double-closed-loop principle; an outer loop is an angle loop, and while an inner loop is a pressure loop. The manipulator can be applied to the fields of home service, agricultural production and spatial detection, and can replace or assist human to finish the work; the anthropomorphic appearance design enables a certain of expression function, and some gestures can be performed to show some simple sign languages, so that the device can be applied to the field of assisting the disabled; humanized and multifunctional artificial hands can be provided to the disabled.

Description

technical field [0001] The invention relates to a robot device, in particular to a multi-fingered robot hand, which is applied in the technical field of end grippers. Background technique [0002] At present, domestic research institutions on manipulators mainly include Beijing University of Aeronautics and Astronautics and Harbin Institute of Technology. Beihang University developed the BUAA four-finger manipulator, which has 4 identical fingers and a total of 16 degrees of freedom, and can meet different grasping requirements by changing the position of the thumb. Its grasping posture and range are limited, and it does not have anthropomorphic characteristics. The HIT / DLR four-finger manipulator jointly developed by the Institute of Robotics of Harbin Institute of Technology and the German Aerospace Center uses a combination of a micro linear motor and a tendon drive system to drive the fingers, which is complicated to control and expensive. Contents of the invention ...

AI Technical Summary

Problems solved by technology

Beihang University developed the BUAA four-finger manipulator, which has 4 identical fingers and a total of 16 degrees of freedom, and can meet different grasping requirements by changing the position of the thumb. Its grasping posture and range are limited, and it does not have anthropomorphic characteristics

The HIT / DLR four-finger manipulator jointly developed by the Institute of Robotics of Harbin Institute of Technology and the German Aerospace Center uses a combination of micro linear motors and tendon drive systems to drive the fingers. The control is complicated and the cost is high.

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