Human simulation dexterous hand based on shape memory alloy (SMA) flexible body intelligent digital composite structures

Abstract

The invention discloses a human simulation dexterous hand based on shape memory alloy (SMA) flexible body intelligent digital composite structures. The human simulation dexterous hand is composed of the five different sizes of SMA flexible intelligent digital composite structures and flexible wrapping materials. The size of each SMA-flexible body intelligent digital composite structure corresponds to one finger and a metacarpal bone of the finger of a human hand. Each SMA flexible body intelligent composite structure is composed of two sections, one section is of a rigid structure simulating a metacarpal bone structure of the human hand, and the other section is of a flexible deformation structure simulating the finger part of the human hand. The SMA flexible body intelligent digital composite structures are composed of 3D metacarpal bones, intelligent digital driving skeletons, elastic sheets and the flexible wrapping materials. The SMA flexible body intelligent digital composite structures are composed of the intelligent digital driving skeletons, the sheets and the flexible wrapping materials, so that self-feedback control and digital bending motion can be realized. The dexterous hand has the advantages that the simulation degree of shapes and motion is high, cost is low, safety and compatibility are good, and controllability is high.

Description

technical field [0001] The invention relates to the technical field of intelligent materials and robots, in particular to a humanoid dexterous hand based on an SMA flexible body intelligent digital composite structure. Background technique [0002] With the continuous development of robot technology, robots are playing an increasingly important role in human industrial production and daily life. Robots are not limited to industrial robots used in manufacturing environments. They are engaged in long-term, repetitive and monotonous tasks in industrial production, such as spraying robots, welding robots, and assembly robots. As another major branch of current robots—service robots applied in non-manufacturing environments are also playing an increasingly important role. These robots play an important role in personal / household and dedicated services, including homework, leisure and entertainment, Assistance for the disabled, medical use, national defense security, logistics us...

AI Technical Summary

Problems solved by technology

The driving methods of the human-like dexterous hand mainly include air pressure, hydraulic pressure, rope (tendon) and other methods. The air pressure output force is large and the overload protection is good, but the sensitivity is poor and the position control is more complicated; the hydraulic pressure has strong stability and reliability. However, it is easy to leak and is not suitable for long-distance operation; the rope drive makes the dexterous hand simple in structure and light in weight, but the movement flexibility and precision are poor

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