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A cord-actuated three-fingered dexterous hand

A dexterous hand and rope-driven technology, applied in the direction of manipulators, chucks, manufacturing tools, etc., can solve the problems of lack of force control, lack of flexibility, poor reliability and versatility, etc., to achieve high repetition, broad application prospects, high The effect of fetching

Inactive Publication Date: 2017-03-01
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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  • A cord-actuated three-fingered dexterous hand
  • A cord-actuated three-fingered dexterous hand
  • A cord-actuated 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 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, above the two moving bases 16, rotating fingers A 10 and rotating fingers B12 are respectively fixedly installed, 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 the rotating motor...

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Abstract

The invention designs a rope-driven three-finger dexterous hand, which solves the problems of poor flexibility and versatility of traditional manipulators. The dexterous hand is characterized in that it includes a fixed base for installing palms, fixed fingers, and a kinematic base that is connected to the rotating mechanism for rotating fingers; two kinematic bases, fixed fingers and palms are arranged on the fixed base, and the two kinematic Each rotating finger is fixedly installed on the base; the lower part of the fixed base is provided with a rotating finger rotating mechanism, and one end of the rotating finger rotating mechanism is connected with the two motion bases, and the other end is connected with the rotating motor coupling; the two rotating fingers are connected with the The fixed fingers are located on concentric circles, and the base knuckles of the two rotating fingers and the fixed fingers envelop the circular palm. The dexterous hand can replace manual operations on flexible production lines or in harmful environments to achieve flexible, precise and fast grasping operations, and has broad application prospects 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 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 rope-driven three-fing...

Claims

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Application Information

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Patent Type & Authority Patents(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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