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Human-simulated finger with base joint and interphalangeal joint respectively and independently driven

An independently driven, joint-based technology, applied in the field of human-like fingers, can solve the problems of unable to move independently, unable to fully reproduce the dexterity of human hands, etc., to achieve the effect of beautiful grasping posture and improving dexterity

Active Publication Date: 2016-07-13
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The purpose of the present invention is to provide a humanoid finger in which the base joint and the interphalangeal joint are independently driven, so as to solve the problem that the proximal joint and the distal joint in the existing humanoid finger cannot move independently, so that the fingers have limitations in the movement and cannot Fully reproduce the problem of human dexterity

Method used

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  • Human-simulated finger with base joint and interphalangeal joint respectively and independently driven
  • Human-simulated finger with base joint and interphalangeal joint respectively and independently driven
  • Human-simulated finger with base joint and interphalangeal joint respectively and independently driven

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specific Embodiment approach 1

[0018] Embodiment 1: Combining figure 1 , figure 2 , image 3 and Figure 4 Describe this embodiment, this embodiment comprises finger base 1, near knuckle 2, middle knuckle 3, far knuckle 4 and four-bar linkage mechanism;

[0019] The proximal knuckle 2 includes a housing 2-1 for the proximal knuckle, a base joint 2-2, a potentiometer 2-3 for the base joint, a first torsion spring 2-4, a first pulley 2-5 and a first steel wire 2-6, one end of the finger base 1 is located in the proximal knuckle shell 2-1 and this end is hinged with the proximal knuckle shell 2-1 through the base joint 2-2, the finger base 1 The other end is arranged on the palm part, and the potentiometer 2-3 for the base joint is set outside the base joint 2-2 and connected with the shell 2-1 for the proximal knuckle and the base joint 2-2 respectively. The first torsion spring 2-4 is located in the shell 2-1 near the knuckle and is sleeved on the finger base 1, and the first pulley 2-5 is fixedly insta...

specific Embodiment approach 2

[0026] Specific implementation mode 2: Combining figure 1 , figure 2 , image 3 and Figure 4 Describe this embodiment, the far phalanx 4 described in this embodiment comprises far knuckle shell 4-1, DIP shaft 4-2, second torsion spring 4-3, torsion spring stop pin 4-4, middle phalanx shell 3-1 The end away from the finger base 1 is hinged in the far knuckle shell 4-1 through the DIP shaft 4-2, the second torsion spring 4-3 is set on the DIP shaft 4-2, and the torsion spring stop pin 4- 4. It is fixedly installed in the shell 4-1 for the far knuckle and is arranged close to the second torsion spring 4-3.

[0027] In the present invention, the proximal knuckle 2 and the middle knuckle 3 are independently driven, and the housing 2-1 for the proximal knuckle and the housing 4-1 for the far knuckle are respectively reset by the first torsion spring 2-4 and the second torsion spring 4-3 . In the present invention, the two ends of the MCP shaft, the two ends of the PIP shaft a...

specific Embodiment approach 3

[0028] Specific Embodiment 3: This embodiment is a further limitation of Specific Embodiment 2. The four-bar linkage mechanism described in this embodiment includes a connecting rod body 5-1 and two connecting rod pins 5-2. The connecting rod body 5-1 It is located in the shell 3-1 for the middle knuckle and its two ends are respectively connected with the shell 2-1 for the proximal knuckle and the shell 4-1 for the far knuckle. The end of the connecting rod body 5-1 close to the finger base 1 passes through a The connecting rod pin 5-2 is hinged on the proximal knuckle shell 2-1, and the end of the connecting rod body 5-1 away from the finger base 1 is hinged on the far knuckle through another connecting rod pin 5-2. On the shell 4-1.

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Abstract

The invention relates to a human-simulated finger, in particular to a human-simulated finger with a base joint and an interphalangeal joint respectively and independently driven.A near joint and a far joint in an existing human-simulated finger cannot respectively and independently move, finger action implementation has limitation, and the flexicity of the human hand cannot completely reproduced.A first pulley of a near knuckle in the human-simulated finger is fixedly arranged in a shell for the near knuckle, one end of a first steel wire is fixedly connected to a palm part, and the other end of the first steel wire goes around the base joint to be fixedly connected to the first pulley.A middle knuckle comprises a shell for the middle knuckle, the interphalangeal joint, an interphalangeal joint potentiometer, a second pulley, a steel wire sleeve and a second steel wire.A far knuckle is arranged at the end, away from the near knuckle, of the middle knuckle.The second pulley is fixedly installed in the shell for the middle knuckle, one end of the second steel wire is arranged on the palm part, the other end of the second steel wire penetrates through the steel wire sleeve to be fixedly connected to the second pulley, and the far knuckle is connected with the shell for the near knuckle in the near knuckle through a four-bar mechanism.The human-simulated finger is used for a robot.

Description

technical field [0001] The invention specifically relates to a humanoid finger whose base joints and interphalangeal joints are independently driven. Background technique [0002] According to the study of grasping taxonomy, the dexterity of the human hand is mainly reflected in the abduction-adduction of the fingers and the independence of the movement of the base joint and the interphalangeal joint when the human hand performs dexterous manipulation. Although finger abduction-adduction plays an important role in dexterous grasping tasks, in static grasping, the joint angles of finger abduction-adduction in different grasping tasks are relatively consistent, and the change is not obvious. However, in the design of prosthetic hands, considering the requirements of anthropomorphic appearance, small size, and low weight, under the limitation of the current technological level, the abduction-adduction degrees of freedom of fingers are often ignored in the design of current rese...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J15/00B25J9/08
CPCB25J9/08B25J15/0009
Inventor 姜力刘源何其佳樊绍巍程明杨大鹏
Owner HARBIN INST OF TECH
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