Novel cable-driven three-fingered dexterous hand

A rope-driven, three-finger technology, applied in the field of new rope-driven three-finger dexterous hands, can solve the problems of lack of force control, poor reliability and versatility, lack of flexibility, etc., to achieve high grasping operation, high repetition, The effect of broad application prospects

Inactive Publication Date: 2015-12-16
SHANDONG UNIV OF SCI & TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

This kind of manipulator lacks flexibility, low grasping accuracy, poor stability, reliability and versatility, and lacks precise force control, which is far from meeting the requirements of various dexterous and fine operation tasks on flexible production lines.

Method used

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  • Novel cable-driven three-fingered dexterous hand
  • Novel cable-driven three-fingered dexterous hand
  • Novel cable-driven three-fingered dexterous hand

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Embodiment Construction

[0017] In order to make the technical solutions, technical features, objectives and functions of the present invention easy to understand, the following will be further elaborated in conjunction with specific implementation methods.

[0018] Such as figure 1 , figure 2 , image 3 , Figure 4 As shown, a novel rope-driven three-finger dexterous hand is characterized in that it includes a fixed base 2 for installing a palm 4, a fixed finger 11, a moving base 16 and is connected with a rotating finger rotation mechanism 17; Two moving bases 16, fixed fingers 11 and palm 4 are set, and the rotating fingers A10 and rotating fingers B12 are respectively fixedly installed on the two moving bases 16, and the moving base 16 can rotate around the fixed base 2; the lower part of the fixed base 2 A rotating finger rotating mechanism 17 is provided, and one end of the rotating finger rotating mechanism 17 is connected with the two motion bases 16 , and the other end is connected with t...

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PUM

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Abstract

The invention discloses a novel cable-driven three-fingered dexterous hand, solving the problems that conventional manipulators are poor in flexibility and universality. The dexterous hand is characterized by comprising a fixed base used for mounting palms, fixed fingers and moving bases and connected with a rotating finger rotating mechanism; two moving bases, fixed fingers and palms are arranged on the upper surface of the fixed base, and the upper surface of each of the two moving bases is provided with a rotating finger; the rotating finger rotating mechanism is arranged at the lower part of the fixed base, one end of the rotating finger rotating mechanism is connected with two moving bases, and the other end of the rotating finger rotating mechanism is connected with a rotating motor coupling; and the two rotating fingers and the fixed fingers are positioned on a concentric circle, and the base knuckles of the two rotating fingers and the fixed fingers envelope the circular palm. The dexterous hand can be used for replacing manual work to achieve flexible, accurate and quick grabbing operation on a flexible production line or a harmful environment, and has a wide application prospect and important social significance in the field of industrial robots.

Description

technical field [0001] The invention relates to the field of industrial robots, in particular to a novel rope-driven three-finger dexterous hand. It is mainly used to complete various dexterous and delicate operation tasks on a flexible production line or to replace manual detection, sampling, assembly, repair and other operations in dangerous and harsh working environments. Background technique [0002] In the field of industrial applications, existing robots mostly use simple end effectors, such as two-jaw or three-jaw grippers, pliers, clips, or adaptive compliance devices for specific operations, to complete material holding and handling. Work. This kind of manipulator lacks flexibility, low grasping accuracy, poor stability, reliability and versatility, and lacks precise force control, which is far from meeting the requirements of various dexterous and fine operation tasks on flexible production lines. For this reason, the present invention provides a novel rope-drive...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J15/10
CPCB25J15/0009
Inventor 张明辉祁德旺徐卫东
Owner SHANDONG UNIV OF SCI & TECH
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