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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
  • Application Information

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

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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 underactuation human-simulation dexterous hand driven and controlled through a micro-motor. The underactuation human-simulation dexterous hand comprises a palm and five fingers, namely the thumb, the index finger, the middle finger, the ring finger and the little finger. The boundary dimension proportion of the underactuation human-simulation dexterous hand refers to a hand of a Chinese woman. The five fingers are independent of one another. The underactuation human-simulation dexterous hand has six driving freedom degrees, namely the freedom degree of rolling of a base joint of the thumb and the freedom degree of pitching of a middle joint of the thumb and the freedom degrees of pitching of base joints of other four fingers, in all. According to the relative angle, about 10-30 degrees, between a middle finger segment and a remote finger segment of a human hand when a frequently-used object is grabbed, the relative angle between a middle finger segment and aremote finger segment of the dexterous hand is fixed, and the design of a remote joint driven mechanism is simplified. The dexterous hand is small and exquisite in appearance and compact and simple instructure and has more than ten types of different grabbing gestures, and the effective and precise grabbing task can be finished.

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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