Human finger simulation system based on pneumatic muscles

A technology of pneumatic muscles and fingers, which is applied in the field of bionic robots, can solve the problems of high joint friction, large size, and difficulty in controlling poses, and achieve good flexibility, high power/mass ratio, and compact structure.

Active Publication Date: 2018-06-15
杭州久驰精密机械科技有限公司
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Problems solved by technology

Chinese patents 201210408685.4, 201520996639.X, 201610921761.X and 201621204358.7 use a motor plus a connecting rod mechanism to drive the imitation human hand, and Chinese patent 201210551850.1 uses a motor plus a gear to drive the imitation human hand. Size limit of generator size
Chinese patents 201710414708.5 and 201520315466.0 respectively use hydraulic cylinders and cylinders to design humanoid manipulators, but they are large in size and rigid
Chinese patents 201610690944.5 and 201710116913.3 respectively use rubber tubes and shape memory alloys to drive humanoid manipulators. Their flexibility has been greatly improved, but it is difficult to achieve precise pose control

Method used

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  • Human finger simulation system based on pneumatic muscles
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Embodiment Construction

[0019] The present invention will be described in detail below according to the accompanying drawings and preferred embodiments, and the purpose and effect of the present invention will become clearer. The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

[0020] Such as figure 1 and 2 As shown, a humanoid finger system based on pneumatic muscles. The finger system has a left-right symmetrical structure and is divided into upper, middle and lower bones. Each bone includes a left fixed plate and a right fixed plate on both sides. , such as the left fixing plate 1 of the third bone, the right fixing plate 25 of the third bone, the left fixing plate 6 of the second bone, the right fixing plate of the second bone, and the left fixing plate 14 of the first b...

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Abstract

The invention discloses a human finger simulation system based on pneumatic muscles. The human finger simulation system is capable of simulating motion of finger joints driven by muscles of human through pneumatic muscles and has the functions of completely simulating motion of fingers and hands of the human. The human finger simulation system mainly comprises fixed plates, connection shafts, beltwheels, V-shaped belts and pneumatic muscles; a combination of single-joint oppositely-pulled pneumatic muscles and the belt wheels is characterized by simultaneously driving multiple joints througha group of oppositely-pulled muscles so as to oppositely pull the pneumatic muscles, achieve the effect of simultaneously regulating angles and stiffness of the multiple joints, reduce the number of the oppositely-pulled muscles and switch the actions of holding, grasping and snapping. The human finger simulation system is driven by the pneumatic muscles, has the characteristics of compact structure, simplicity in control, high flexibility, high output force and adjustable stiffness, and can be applied to the fields of grasping of objects, teaching demonstration and carrying of parts.

Description

technical field [0001] The invention belongs to the technical field of bionic robots, and in particular relates to a humanoid finger system based on pneumatic muscles. Background technique [0002] The structure of the joints of the human hand is extremely intricate. Objects of different shapes can be grasped, grasped, and flicked. The unevenly distributed muscles coordinate with each other in these actions to achieve the above actions. Chinese patents 201210408685.4, 201520996639.X, 201610921761.X and 201621204358.7 use a motor plus a connecting rod mechanism to drive the imitation human hand, and Chinese patent 201210551850.1 uses a motor plus a gear to drive the imitation human hand. Size limit for generator size. Chinese patents 201710414708.5 and 201520315466.0 respectively use hydraulic cylinders and cylinders to design humanoid manipulators, but they are large in size and rigid. Chinese patents 201610690944.5 and 201710116913.3 respectively use rubber tubes and shap...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J15/00B25J9/10B25J15/08
CPCB25J9/104B25J9/1075B25J15/0009B25J15/08
Inventor 姜飞龙张海军
Owner 杭州久驰精密机械科技有限公司
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