Multi-fingered dexterous hand based on FPA drive

Abstract

A multi-fingered dexterous hand based on FPA drive comprises five fingers and a palm, wherein the palm comprises a thumb palm block, an index finger palm block, a middle finger palm block, a ring finger palm block and a little finger palm block; the thumb palm block comprises a tray, a thumb mounting seat and a rotating shaft part capable of rotating around the index finger palm block, the tray is a cube which is used for holding an object so that the fingers can grab the object conveniently, the thumb mounting seat is used for fixing a thumb, and the rotating shaft part is rotationally mounted on the index finger palm block; each of the other palm blocks comprises a palm body, mounting seats arranged on two sides and matched with adjacent fingers, a rotating shaft pin and a finger mounting seat; the fingers are mounted on the finger mounting seats; the left side surface and the right side surface of each palm body are inclined; the mounting seats are positioning baffles or bosses; an assembling space for allowing a boss to be inserted in is reserved between every two positioning baffles; each rotating shaft pin is rotationally mounted between two positioning baffles; and the bosses are fixed on the rotating shaft pins. The multi-fingered dexterous hand based on FPA drive is simplified in structure and has excellent flexibility and good applicability.

Description

technical field [0001] The invention belongs to the field of actuators and relates to a multi-fingered dexterous hand. Background technique [0002] Most of the traditional end effectors adopt a clamping or translational single-degree-of-freedom structure. This traditional end effector has simple operation tasks and does not require a complicated control system. It is customized for specific occasions, such as welding guns, suction cups, assembly grippers etc. This kind of end effector has poor versatility, which greatly limits the working range of the robot. Although the stability of the operation is good, there are still the following disadvantages: (1) the clamping method is single and the interchangeability is poor, which affects the overall operating efficiency; (2) there are few contact points in the clamping process and lack of dexterity; ( 3) Lack of controllability of the force, no corresponding sensing system, unable to accurately reflect the grasping position an...

AI Technical Summary

Problems solved by technology

[0005] In order to overcome the deficiencies of the existing robotic dexterous hands, such as complex structure, poor flexibility, and poor adaptability, the present invention provides a multifunctional robot based on FPA (Flexible Pneumatic Actuator, flexible pneumatic actuator) with simplified structure, good flexibility, and good applicability. dexterous hand

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