Underactuation human-simulation dexterous hand driven and controlled through micro-motor

A drive control and micro-motor technology, applied in the field of dexterous hands, can solve the problems of unfavorable popularization and practicality of dexterous hands, many driving units, complicated mechanisms, etc., and achieve the effect of reducing the design of the driven mechanism, small size, and simplifying the structure of fingers

Pending Publication Date: 2018-04-20
SHANGHAI ZHEQIAN APPL TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
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AI Technical Summary

Problems solved by technology

[0004] The design mechanism of the bionic dexterous hand in the prior art is complex, requires many drive units, difficult to control, and high in cost, which is not conducive to the popularization and practicality of the dexterous hand

Method used

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  • Underactuation human-simulation dexterous hand driven and controlled through micro-motor
  • Underactuation human-simulation dexterous hand driven and controlled through micro-motor
  • Underactuation human-simulation dexterous hand driven and controlled through micro-motor

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Embodiment Construction

[0019] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

[0020] see figure 1 , 2 , in an embodiment of the present invention, an underactuated humanoid dexterous hand driven and controlled by a micro-motor includes a palm shell 1, a motor 2, a thumb 3, an index finger 4, a middle finger 5, a ring finger 6, and a little finger 7; it is characterized in that the The thumb is divided into thumb knuckle 302, thumb middle knuckle 304, thumb distal knuckle 306, thumb base joint 301, thumb middle knuckle 303 and thumb far...

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Abstract

The invention discloses an underactuated humanoid dexterous hand driven and controlled by a micro-motor, comprising: a palm and five fingers, the five fingers are respectively a thumb, index finger, middle finger, ring finger, and little finger, and the proportions of its external dimensions refer to Chinese women hand. The five fingers are independent of each other, and there are a total of 6 driving degrees of freedom, which are 2 degrees of freedom for the base joint roll of the thumb and pitch of the middle joint, and 4 degrees of freedom for the base joints of the other four fingers. According to the relative angle between the middle phalanx and the distal phalanx (about 10-30°) when the human hand grasps commonly used objects, the relative angle between the two phalanxes of the dexterous hand is fixed to simplify the design of the remote joint follower mechanism . The dexterous hand of the present invention has a small appearance, a compact and simple structure, has more than a dozen different grasping gestures, and can realize effective and precise grasping tasks.

Description

technical field [0001] The invention relates to a dexterous hand, in particular to an underactuated humanoid dexterous hand driven and controlled by a micro motor. Background technique [0002] With the rapid development of robot technology, its application fields are expanding day by day. Among them, the executive parts of the robot have a very close relationship with the working environment. As an end effector, the dexterous hand affects the intelligence of the robot and the improvement of the operating level. Therefore, the humanoid dexterous hand with multiple joints has become the field of robotics. one of the research hotspots. The traditional manipulator is mainly a clamping device with a simple mechanism. If the end gripper of the robot can be as flexible as a human hand, it can be used in different occasions to complete different tasks, and it is easy to solve difficult problems, which is conducive to reducing costs and improving work efficiency. [0003] After a...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J15/00B25J17/00
CPCB25J15/00B25J15/0009B25J17/00
Inventor 毛惟谦牛晓凤楼煜峰汪睿
Owner SHANGHAI ZHEQIAN APPL TECH CO LTD
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