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Dexterous hand

A dexterous hand and finger technology, applied in the field of robotics, can solve the problems of linkage mechanism stuck, poor reliability, etc.

Inactive Publication Date: 2017-01-04
SHANGHAI XPARTNER ROBOTICS
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0004] Although the above-mentioned humanoid manipulator can realize the bending action of each finger, since each finger adopts a plurality of continuous connecting rod structures to drive each finger cover to rotate by the principle of leverage, the connecting rod mechanism will inevitably have the problem of running stuck, so it has the advantages of Reliability of finger extension operation is not good

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Embodiment Construction

[0027] The technical solutions of the present invention will be further described below in conjunction with the accompanying drawings and through specific implementation methods.

[0028] figure 1 It is the front view of the dexterous hand described in the embodiment under the state of finger straightening, figure 2 is the structural diagram of the power assembly in the embodiment, image 3 It is a schematic diagram of the connection between the finger and the rotating shaft in the embodiment. Figure 4 is the internal structure diagram of the finger in the embodiment. like Figure 1 to Figure 4 As shown, this embodiment provides a dexterous hand, and defines the end of the dexterous hand away from the robot body as the front end. Specifically, the dexterous hand includes a palm 1, and at least two bendable fingers 2 protrude from the front end of the palm 1, wherein each finger 2 is composed of a plurality of knuckles connected in sequence. Each finger 2 may preferably ...

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Abstract

The invention discloses a dexterous hand. The dexterous hand comprises a palm. The front end of the palm stretches out to form at least two bendable fingers. Each finger is composed of a plurality of finger joints in shaft connection in sequence. The interior of each finger extends backwards from the fingertip position to form a traction body penetrating through the palm, and a control mechanism for controlling the traction bodies is mounted at the rear end of the palm. When the control mechanism does not pull the traction bodies, the fingers are in a straightened state. When the control mechanism pulls the traction bodies and gradually increases pull force, the fingers are bent gradually. The dexterous hand has the advantages of being simple in structure, simple in manufacturing process and good in finger extending and bending motion controllability and reliability.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a dexterous hand. Background technique [0002] With the rapid development of modern science and technology and the continuous expansion of robot application fields, the original robot end effector can no longer meet today's production needs. In order to overcome the shortcomings of ordinary end effectors such as single clamping method, small movable space, lack of flexibility, and difficulty in precise control, a dexterous mechanical device (dexterous hand for short) emerged as the times require. The dexterous hand has multiple degrees of freedom, can grasp objects of various shapes and materials, and can also perform fine manipulations on the grasped objects. Using it instead of a special gripper and installing it at the end of the robot manipulator can not only expand the working range of the robot, but also improve the working quality of the robot. [0003] A Chinese utility...

Claims

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Application Information

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IPC IPC(8): B25J15/10B25J15/12
CPCB25J15/10B25J15/12
Inventor 恽为民王伟庞作伟
Owner SHANGHAI XPARTNER ROBOTICS
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