Three-degree-of-freedom humanoid wrist device

A degree of freedom and wrist technology, applied in the field of humanoid robots, can solve the problems of inconvenience of amputees and reduced performance of prosthetic hands

Active Publication Date: 2015-09-02
SHANGHAI JIAO TONG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The existing prosthetic hands on the market do not have a wrist structure, which greatl...

Method used

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  • Three-degree-of-freedom humanoid wrist device
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Embodiment Construction

[0015] The specific structure and mode of action of the device of the present invention will be described below with reference to the accompanying drawings. The three-degree-of-freedom human-like wrist mechanical device of the present invention includes a power unit, a transmission unit, a turning platform and a palm connecting platform.

[0016] Such as figure 1 with figure 2 As shown, in a preferred embodiment, the device is roughly symmetrical. The power unit includes a base 1, a first motor 2, a second motor 3, a third motor 4, a motor fixing frame 5 and a housing 22. The first motor 2 is a bidirectional motor, which is mounted on the housing 22, and its motor output shaft is fixedly connected to the base 1. The second motor 3 and the third motor 4 are also bidirectional motors, which are mounted on the motor fixing frame 5 and are located on both sides of the first motor 2 respectively. The motor fixing frame 5 is fixedly connected to the housing 22. The transmission uni...

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Abstract

The invention belongs to the field of humanoid robots, and particularly relates to a three-degree-of-freedom humanoid wrist mechanical device. The device comprises a power unit, a transmission unit, an overturning platform and a palm connecting platform. The device is compact in structure and light in weight, can simulate the up/down cutting, inward/outward turning and inward/outward rotating movements of a human wrist, has a certain self-locking capability, can be used as a humanoid robot wrist, and can also be mounted on a prosthetic hand.

Description

Technical field [0001] The invention belongs to the field of humanoid robots, and particularly relates to a three-degree-of-freedom human-like wrist mechanical device. Background technique [0002] With the continuous application of robotics, humanoid manipulators have become one of the research hotspots in the field of robotics. In recent decades, in order to simulate the function of human hands, many research institutions at home and abroad have made fruitful research on the design, analysis and control of humanoid manipulators. The research on humanoid manipulators is also considered to be the most challenging task. one. On the other hand, with the growth of material wealth in human society, the society pays more and more attention to the disabled, and the research of prosthetic hands has received great attention from all walks of life. [0003] The humanoid wrist is an important part of the humanoid manipulator. On the one hand, the human-like wrist makes the manipulator mor...

Claims

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Application Information

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IPC IPC(8): B25J17/00B25J9/08
Inventor 朱向阳华磊盛鑫军
Owner SHANGHAI JIAO TONG UNIV
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