A five-finger dexterous hand finger side swing and palm-to-palm mechanism based on screw linkage mechanism

Abstract

The invention designs a finger side swinging and opposing mechanism of a five-finger dextrous hand based on a screw linkage mechanism. Dextrous movement of all fingers are satisfied, and additionally, the finger side swinging and opposing mechanism has the poweroff self-locking pose keeping ability, so that the grasping function of the five-finger dextrous hand is obviously increased, and different requirements of the five-finger dextrous hand for reliably grasping different articles are satisfied. The side swinging and opposing mechanism which is designed by using the screw linkage mechanism as a core component is mainly composed of an N20 screw gear motor as a power component, sliding blocks, a linkage pair, a palm mainboard, a thumb D shaft fixed frame, hinges and accessories, wherein the thumb D shaft fixed frame is used for fixing a D shaft of a thumb root joint; the palm mainboard is a base on which the screw gear motor, fingers, an opposing small plate and the hinges are connected; linkages are movement transmission components for connecting the sliding blocks with finger roots and the palm mainboard with the opposing small plate and the palm mainboard with the thumb D shaft fixed frame; the hinges are used for connecting the opposing small plate with a rack, and a bearing and a shaft are mainly used in the side swinging driving aspect of the fingers, so that the rotating efficiency and the movement flexibility can be increased.

Description

technical field [0001] The invention belongs to the technical field of mechanical dexterous hands, and specifically relates to the application of a screw mechanism in a humanoid dexterous hand. It proposes a new type of finger side-swing and palm-to-palm mechanism, which optimizes the structure of the entire dexterous hand. The characteristic of the lock realizes the ability to maintain the original posture of the dexterous hand after the power is cut off. Background technique [0002] With the continuous advancement of science and technology and the emergence of new interdisciplinary subjects, space exploration, nuclear energy development, medical equipment and other fields have put forward higher requirements for robot technology, while traditional industrial robot end grippers have some significant shortcomings. Such as poor flexibility, low perception, and low control accuracy of position and force. In recent years, due to the urgent needs of engineering applications, t...

AI Technical Summary

Problems solved by technology

However, most of the dexterous hands at home and abroad are driven by wire ropes, and a few dexterous hands are driven by motor bevel gears. Due to the performance and power limitations of the motor, they cannot maintain the position and posture of a large torque disturbance, resulting in reduced reliability.

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