Five-finger humanoid manipulator based on 3D printing

A technology of 3D printing and manipulators, applied in the field of bionic manipulators, can solve the problems of hard contact of grasping objects and difficulty in controlling the grasping force, and achieve the effects of high production efficiency, convenient production and cost saving

Active Publication Date: 2017-07-18
NORTH CHINA UNIVERSITY OF TECHNOLOGY
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

In terms of structural surface characteristics, compared with the muscle skin of human hands, it is very hard, which leads to hard contact when grasping objects, which brings great difficulties to the control of grasping force. The present invention combines the huge advantages of 3D printing te

Method used

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  • Five-finger humanoid manipulator based on 3D printing
  • Five-finger humanoid manipulator based on 3D printing
  • Five-finger humanoid manipulator based on 3D printing

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0026] Such as figure 1 As shown, Embodiment 1 of the present invention provides an integrated five-finger humanoid manipulator based on 3D printing. This manipulator not only has the basic functions of a traditional five-finger humanoid manipulator, but also has the advantages of being easy to manufacture, easy to control, and has a preliminary sense of touch. . It includes a hand body with 14 bending degrees of freedom and a rope-drawing component and a touch sensing component arranged on the hand body. The rope-drawing component can realize the movement of the finger 2, making the manipulator safe and flexible, and the contact The sensory component can feed back signals in real time to judge whether the finger 2 is in contact with the object, so as to ensure the object is held firmly; The main body includes a palm 1 and five fingers 2 connected to the palm 1. The five fingers 2 are all made by imitating human hands. The fingers 2 and the palm 1 are connected by an integrat...

Embodiment 2

[0029] Embodiment 2 of the present invention further defines the structure of the manipulator on the basis of Embodiment 1. The main body of the hand with 14 bending degrees of freedom is an integrally formed structure made of flexible materials by 3D printing equipment. The 3D printing device can be a 3D printer. The manipulator made by 3D printing technology does not need the subsequent connection and assembly process. It can not only realize the bionic movement of the human hand, but also realize the bionic movement of the human hand by using flexible materials. In addition, in During the manufacturing process, the process of connecting and assembling is omitted, the manufacturing cost is reduced, the production efficiency is improved, and the manufacturing cost is reduced.

[0030] It should be further noted that the flexible material is a resin material, and the tensile strength and flexural modulus of the resin material are both 35-45 MPa.

[0031] It should be further n...

Embodiment 3

[0036] Such as Figure 4 As shown, on the basis of Embodiment 1, Embodiment 3 of the present invention further defines that each finger 2 is composed of three knuckles 3, and the joints are connected by an integrated flexible belt structure, without the need for Relative bending and stretching motions can be realized through connections such as pin shafts. Adjacent knuckles 3 joints are located on the side of the finger pad and on the side of the back of the finger, and are oppositely provided with a notch 4, and the opening of the notch 4 on the side of the finger pad on the knuckle 3 The angle is greater than the opening angle of the notch 4 located on the side of the back of the finger on the knuckle 3 . The finger pads and the fingers are relatively provided with notches 4, which can realize bending between joints through the notches 4, effectively imitating human joints.

[0037] Such as Figure 5 As shown, it should be noted that the fingers 2 include thumb, index fin...

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Abstract

The invention provides an integral five-finger humanoid manipulator based on 3D printing. The manipulator comprises a hand main body with 14 bending freedom degrees, a rope pulling assembly and a contact-type perceiving assembly, wherein the hand main body adopts an integrally-formed structure; the hand main body comprises a palm and five fingers connected with the palm. The manipulator provided by the invention has a very high bionic degree, has the characteristics of a simple structure, small size and high softness; meanwhile, the manipulator adopts an integrally-formed structure, so that secondary assembly is not required, a complex assembling link is omitted, production is convenient, the production efficiency is high, and the cost is reduced; in addition, through the rope pulling assembly, movement of each joint can be achieved, so that the manipulator is safe and flexible; through the contact-type perceiving assembly, the manipulator has a preliminary tactile function in the moving and working process, so that the degree of intelligence of the manipulator is enhanced; the manipulator has an important application value in the fields of industrial robots, agricultural robots, service robots, educational robots and the like.

Description

technical field [0001] The invention relates to the technical field of bionic manipulators, in particular to a five-finger humanoid manipulator based on 3D printing. Background technique [0002] With the continuous development of robot application technology, manipulators are widely used as end effectors. In order to adapt to different tasks, it has broad market prospects to manufacture flexible manipulators that can be as flexible as human hands to replace humans to complete work. Five-finger bionic manipulators As a type of robot terminal operating device, it has the characteristics of multi-degrees of freedom, multi-finger coordination, and strong flexibility, and has been widely used in various tasks that require dexterity and precision. [0003] The existing patent No. CN201510071803.0 discloses a completely self-powered bionic manipulator. The manipulator is a traditional manipulator. From a structural point of view, most of these manipulators are designed with joints...

Claims

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Application Information

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IPC IPC(8): B25J15/00
CPCB25J15/0009
Inventor 胡福文姜鑫
Owner NORTH CHINA UNIVERSITY OF TECHNOLOGY
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