Light humanoid five-fingered dexterous hand mechanism

Abstract

The invention relates to the technical field of novel service and humanoid robots, in particular to a light humanoid five-fingered dexterous hand mechanism which comprises a palm, a thumb installationbase, a thumb, an index finger, a middle finger, a ring finger and a little finger. The thumb is installed on the palm through the thumb installation base, the index finger, the middle finger, the ring finger and the little finger are sequentially installed on the palm, the thumb comprises two joints and have two degrees of freedom, the index finger, the middle finger, the ring finger and the little finger are each provided with three joints and have three degrees of freedom, and the joints of the thumb, the index finger, the middle finger, the ring finger and the little finger are each driven by a steel wire rope connected with a brake element. The light humanoid five-fingered dexterous hand mechanism is light, dexterous, high in number of degrees of freedom, good in flexibility, high intransmission efficiency, simple in mechanism, low in manufacturing cost, and applicable to artificial limb production, scientific research institution control method research and the like.

Description

technical field [0001] The invention relates to the technical field of novel services and bionic robots, in particular to a lightweight humanoid five-finger dexterous hand mechanism. Background technique [0002] Most of the traditional human-like dexterous hands are driven by motors. The power density ratio of traditional motors decreases rapidly with the reduction of motor volume, and the transmission error increases and friction increases, which makes traditional motors require high power density ratio and overall response. The performance of the humanoid dexterous hand is limited in application. At the same time, the multi-degree-of-freedom movement of the dexterous hand must be realized by motor drive, which greatly increases the weight of the dexterous hand, reduces the safety, and complicates the transmission mechanism, which cannot meet the performance requirements of light weight and dexterity. On the other hand, the complexity of the structure and the device also ...

AI Technical Summary

Problems solved by technology

[0002] Most of the traditional humanoid dexterous hands are driven by motors. The power density ratio of traditional motors decreases rapidly with the reduction of motor volume, the transmission error increases, and the friction force increases. This makes traditional motors require high power density ratio and overall response. Performance of the humanoid dexterous hand is limited in application

At the same time, if the motor is used to drive the multi-degree-of-freedom movement of the dexterous hand, multi-motor linkage must be used, which greatly increases the weight of the dexterous hand, reduces safety, and complicates the transmission mechanism, which cannot meet the performance requirements of light weight and dexterity. , on the other hand, the complexity of the structure and devices has also led to a substantial increase in the cost of manufacturing and using the transmission motor to drive the dexterous hand

At present, the dexterous hands on the market are basically driven by motors, and the dexterous hands driven by motors have relatively large defects in weight, volume, flexibility and compliance.

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