Underactuated humanoid dexterous robotic hand device

Abstract

The invention relates to an underactuated humanoid dexterous robotic hand device, which is provided with five independently controlled modular fingers and has 16 freedom degrees. The whole hand is driven by 11 motors; the dimension and the shape are similar to those of the hand of an adult. Except for a thumb, the other four fingers have the completely identical structures; the thumb has one freedom degree of doing longitudinal rotation around the palm base; through the arrangement of a rotating shaft, when the whole hand grasps objects, the grasping force of the forefinger, the ring finger and the small finger on the objects can be in symmetrical distribution at the two sides of the middle finger; the grasping stability is improved. Modular fingers are used; the two motors are respectively used for driving a finger base part joint, a middle joint and a tail end joint; the middle joint and the tail end joint are coupled by a structure-variable connecting mechanism; through a connecting rod mechanism, the relative positions of the two coupled finger joints after the contact with the objects can be actively regulated, so that the fingers can wrap the objects according to the shape of the grasped objects; the self adaptability to the appearance of the objects is high; the grasping action better conforms to the human hand. The structure of the whole hand is simple; the grasping force is great; the grasping rigidity is high; the control is simple; the grasping self adaptability is high; the underactuated humanoid dexterous robotic hand device is applicable to the fields of disabled people artificial hands, explosive handling, nuclear equipment detection and humanoid robots.

Description

technical field [0001] The invention belongs to the field of humanoid robot technology and application, and relates to an underactuated humanoid dexterous hand device. Background technique [0002] With the continuous development of robot technology, humanoid robots have attracted more and more attention because they can realize various actions and functions of human beings. The humanoid dexterous hand, as the direct medium for the humanoid robot to communicate with the external environment, has a great influence on the activity and operation performance of the humanoid robot, and the structural design of the humanoid dexterous hand is the key to the humanoid robot. One of the technologies that largely limits the development of humanoid robot technology. [0003] A humanoid dexterous hand generally has 3-5 fingers, and each finger has 3-4 joint degrees of freedom. According to the driving form of the humanoid dexterous hand, it can be divided into full-actuated dexterous h...

AI Technical Summary

Problems solved by technology

Its shortcoming is that the three joints of the four fingers except the thumb are simultaneously bent at a fixed angle at a rate of 1:1:1, and the joints cannot be driven independently, and the dexterity and human hands are quite different. Objects are less adaptable

Another existing humanoid dexterous hand, such as the Chinese invention patent CN1283429C, includes a palm and five fingers, a total of 12 joint degrees of freedom, and the bending and straightening of the underactuated joints of the fingers is realized by a multi-stage gear transmission system. The gear transmission system has a self-decoupling effect. There are only three actively driven joints, and the three fingers except the thumb and index finger are driven by a motor. A single finger cannot be actively bent, which is quite different from the human hand. The dexterity not tall

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