Light humanoid five-fingered dexterous hand mechanism

A dexterous hand and five-finger technology, applied in manipulators, chucks, manufacturing tools, etc., can solve the problems of reduced motor power density ratio, complexity, and reduced safety, and achieve reduced manufacturing costs, high transmission efficiency, and low manufacturing costs. Effect

Pending Publication Date: 2018-01-05
SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI
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  • Abstract
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  • Claims
  • Application Information

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 increase

Method used

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  • Light humanoid five-fingered dexterous hand mechanism
  • Light humanoid five-fingered dexterous hand mechanism
  • Light humanoid five-fingered dexterous hand mechanism

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Embodiment Construction

[0024] In order to make the objectives, technical solutions and advantages of the present invention clearer, the present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.

[0025] like figure 1 , figure 2 As shown, the present invention provides a lightweight humanoid five-finger dexterous hand mechanism, including a palm 1, a thumb mount 2, a thumb 100, an index finger 101, a middle finger 102, a ring finger 103 and a little finger 104, wherein the thumb 100 passes through the thumb mount 2 To be installed on the palm 1 , the index finger 101 , the middle finger 102 , the ring finger 103 and the little finger 104 are directly installed on the palm 1 in sequence. The thumb 100 includes two joints and has two degrees of freedom. The index finger 101 , the middle finger 102 , the ring finger 103 and the little finger 104 all include three joints with three degrees of freedom. The thumb 100 , the index finger 101 ,...

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Abstract

The invention relates to the technical field of novel services and bionic robots, in particular to a light-weight humanoid five-finger dexterous hand mechanism. Including palm, thumb mount, thumb, index finger, middle finger, ring finger and little finger, wherein the thumb is mounted on the palm through the thumb mount, the index finger, middle finger, ring finger and little finger are mounted on the palm in turn, and the thumb contains two joints , has two degrees of freedom, the index finger, middle finger, ring finger and little finger all contain three joints, all have three degrees of freedom, the joints of the thumb, index finger, middle finger, ring finger and little finger respectively pass through a braking element Connected wire rope drive. The invention is light, dexterous, has many degrees of freedom, good flexibility, high transmission efficiency, simple mechanism and low manufacturing cost, and is suitable for prosthesis production, research on control methods of scientific research institutions, 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 ...

Claims

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Application Information

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IPC IPC(8): B25J15/00
Inventor 韩建达赵新刚伍齐佳张道辉
Owner SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI
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