a humanoid robot

Abstract

The invention relates to the technical field of robots, and provides a human-simulated mechanical hand. The human-simulated mechanical hand comprises a mechanical arm and a mechanical gripper which are connected to each other, wherein the mechanical arm comprises a large arm and a small arm; a shoulder pitching joint, a shoulder yaw joint and a shoulder rolling joint which are connected to a shoulder are arranged on the large arm; an elbow pitching joint and an elbow rolling joint which are connected to the large arm are arranged on the small arm; and a wrist yaw joint connected to the small arm is arranged on the mechanical gripper. According to the human-simulated mechanical hand provided by the scheme, the three joints on the large arm realize bionics design of a spherical joint at a joint of the arm and the shoulder; the bionics design of the elbow joints of the arm is realized by the two joints of the small arm; and one joint on the mechanical arm realizes the bionics design on a hand. The human-simulated mechanical hand has a relatively high motion space and relatively high motion flexibility, and can replace people to complete special work which is not liable to complete; and an operator conveniently controls according to intuition and experience, so that control efficiency and accuracy can be improved.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a humanoid manipulator. Background technique [0002] With the continuous increase in the demand for high-risk, high-strength or delicate work such as resource development, nuclear waste cleanup, high-pressure and high-risk operations, surgery, and rehabilitation care, it is more urgent to study humanoid manipulators and make them replace human hands to complete corresponding special tasks. At present, the widely used manipulators are not strong in imitation, narrow in range of motion, and low in flexibility. [0003] For example, the patent No. CN104708637A titled "A Humanoid Robotic Arm" discloses a humanoid robotic arm comprising an arm with six degrees of freedom and a gripper with one degree of freedom for opening and closing. Among them, the six degrees of freedom of the arm include three degrees of freedom at the front end of the arm and three degrees of freedom at the end...

AI Technical Summary

Problems solved by technology

[0008] The purpose of the present invention is to provide a humanoid manipulator, which solves the unreasonable arrangement of the degree of freedom of the arm existing in the prior art and cannot correspond to the movement of each joint of the human arm, so the trajectory of the movement of the human arm is not affected. The problem of not being able to achieve complete imitation

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