Manipulator driven by pneumatic brake cables and having human hand characteristics

Abstract

The invention discloses a manipulator driven by pneumatic brake cables and having human hand characteristics. The manipulator comprises five mechanical fingers, a palm, a limiting and driving device and a gas loop, and each mechanical finger sequentially an upper knuckle, a middle knuckle, a lower knuckle and a connecting member. A gas path control system comprises a gas source device, a cylinder, a pressure-regulating valve, an electromagnetic reversing valve and a gas pipe. The lower knuckles of the five mechanical fingers are installed in the mechanical palm in the same direction through respective connecting members, thin brake cables traverse the upper knuckles, the middle knuckles, the lower knuckles and the connecting members and are fixed on the upper knuckles, and the other ends of the brake cables traverse limiting parts and is connected with the cylinder to serve as the driving device. In dependence on pneumatic flexibility, a gas driving work process and a corresponding pneumatic loop of the manipulator are developed, and the grasping force of the manipulator is adjustable. The manipulator driven by the pneumatic brake cables and having human hand characteristics highly simulates grasping motions of a human hand, and can be applied to fields of bionic robots, rehabilitation robots, industrial robots and the like.

Description

technical field [0001] The invention relates to a manipulator driven by a pneumatic brake line and having the characteristics of a human hand, which has the characteristics of a human hand grasping movement and can dexterously complete the grasping action. Background technique [0002] With the rapid development of modern science and technology and the continuous expansion of the application field of robots, there are more and more anthropomorphic bionic robot projects among various types of robots. Application requirements. [0003] Now, in order to overcome the shortcomings of ordinary manipulators such as single clamping method, small activity space, lack of flexibility, and difficulty in precise control, dexterous manipulators have emerged as the times require. Dexterous manipulators have multiple degrees of freedom and can perform precise manipulations of grasped objects. It is expected to replace the gripper and install it at the end of the robot operation, which can...

AI Technical Summary

Problems solved by technology

[0002] With the rapid development of modern science and technology and the continuous expansion of the application field of robots, there are more and more anthropomorphic bionic robot projects among various types of robots. Application requirements

[0003] Now, in order to overcome the shortcomings of ordinary manipulators such as single clamping method, small activity space, lack of flexibility, and difficulty in precise control, dexterous manipulators have emerged as the times require.

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