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Robot five-finger dexterous hand executive device

The technology of an actuator and a dexterous hand is applied in the field of the five-finger dexterous hand actuator of a robot, which can solve the problems of increasing the complexity of the system and the difficulty of research, and achieves low grasping control difficulty, reduced complexity and research difficulty, and high reliability. Effect

Inactive Publication Date: 2017-01-18
SHANGHAI UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Continuous improvements in dexterous manual performance have come at the cost of increased system complexity and research difficulty

Method used

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  • Robot five-finger dexterous hand executive device
  • Robot five-finger dexterous hand executive device
  • Robot five-finger dexterous hand executive device

Examples

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Embodiment Construction

[0032] Preferred embodiments of the present invention are described in detail as follows:

[0033] In this example, see Figure 1-13, a five-finger dexterous hand actuator for a robot, including a palm unit and five fingers, the palm unit includes the back of the palm 501 and the center of the palm 502, one of the fingers is a thumb, and five miniature direct current drives are set inside the palm unit to drive the finger bending action Motor 509 and a miniature DC motor 509 that swings the thumb, the output shaft of the miniature DC motor 509 is fixedly connected with the sensor 508 and the winding 505 is fixedly installed, and the two index fingers have the first finger unit part, and the first finger unit consists of the first finger unit in turn. Knuckle A11, second knuckle A12, third knuckle A13 and fourth knuckle 14 are connected, and a rotation axis is set between two adjacent knuckles, so that the first finger unit forms a finger joint system with three degrees of free...

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Abstract

The invention discloses a robot five-finger dexterous hand executive device. The robot five-finger dexterous hand executive device comprises a palm unit and five fingers; each finger comprises four knuckles which are connected through a spring piece, finger cover plates, screws and nuts; and a palm comprises a bottom plate and a cover plate and is used for fixing a motor and the fingers. According to the robot five-finger dexterous hand executive device, simple grabbing and nipping actions can be achieved through a closed loop feedback system composed of a force sensor and an angle sensor. The robot five-finger dexterous hand executive device has the characteristics that every single finger is controlled in a tendon transmission mode through one motor based on the underactuation principle, so that the fingers can wrap an object in a self-adaptive mode when grabbing different objects. The robot five-finger dexterous hand executive device has the advantages of being simple in structure, low in grabbing control difficulty and high in reliability.

Description

technical field [0001] The invention relates to a robot device, in particular to a five-finger dexterous hand actuator for a robot, which is applied in the technical fields of end grippers and humanoid prostheses. Background technique [0002] As an effective extension of human movable limbs, the robotic dexterous hand has been studied by scientists from various countries as one of the hot research directions in the field of robotics since the second half of the 20th century because of its ability to perform flexible and fine grasping operations. Compared with simple end manipulators, robotic dexterous hands have the advantages of strong versatility, rich perception capabilities, and the ability to achieve precise and stable grasping that meets geometric closure and force closure. [0003] With the development of manufacturing technology and sensor and control technology, as an important link in the interaction between robots and the environment in the field of intelligent m...

Claims

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Application Information

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IPC IPC(8): B25J15/10
CPCB25J15/0009B25J15/10
Inventor 徐昱琳徐粟轩徐逍蒋财军刘珍珍
Owner SHANGHAI UNIV
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