Seven-freedom-degree five-finger mechanical arm

Abstract

The invention relates to a seven-freedom-degree five-finger mechanical arm, and belongs to the technical field of robots. The mechanical arm comprises a palm, five fingers, seven motors, a drive gear, a driven gear, a transmission shaft, a drive steel wire rope, a driven steel wire rope, three pairs of worm wheels, a worm, a hoop and a rolling cylinder. Any of the index finger, the middle finger, the third finger and the little finger has one bending freedom degree, the index finger, the third finger and the little finger have one swing freedom degree so that the three fingers can be unfolded or folded at the same time, the thumb has one bending freedom degree and one swing freedom degree, and the seven freedom degrees are set. By means of the seven-freedom-degree five-finger mechanical arm, bidirectional bending of the five mechanical fingers can be achieved, the index finger, the third finger and the little finger can be folded and unfolded, bidirectional swing of the thumb is achieved, and a precise grabbing task can be completed.

Description

technical field

[0001] The invention belongs to the technical field of robots, in particular to a novel 7-degree-of-freedom five-finger manipulator. Background technique

[0002] In recent years, robots have developed rapidly and have been operating in different environments such as factories, battlefields, and space, and the end effector is a key part of them. Most of the end effectors are single-degree-of-freedom clamp-type or parallel-moving mechanisms, and there are even vacuum suction cup-type mechanisms for handling. These end-effectors are mainly simple in structure, easy to control, and suitable for heavy-duty operations. However, due to their shortcomings such as weak versatility, low intelligence, and poor precision, these simple end-effectors have been unable to meet the needs of human beings. The requirements of complex tasks also limit the development of robots in many fields. Therefore, the five-fingered dexterous hand has attracted much attention due to its ...

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