Underactuated lightweight human-simulated five-finger dexterous hand

Abstract

The invention belongs to the technical field of bionic robots, and particularly relates to an underactuated lightweight human-simulated five-finger dexterous hand. The underactuated lightweight human-simulated five-finger dexterous hand comprises a palm, five fingers, five finger bending and extension driving mechanisms, five rope transmission mechanisms and a thumb rotation driving mechanism, wherein the five fingers include a thumb, an index finger, a middle finger, a ring finger and a little finger which are installed on the palm in sequence by virtue of fixed seats; the five finger bendingand extension driving mechanisms are respectively installed on the five fixed seats and are respectively used for supplying power to the bending and extension of the five fingers; the five rope driving mechanisms are respectively installed in the five fingers and are connected with the corresponding finger bending and extension driving mechanisms, and the fingers are driven to bent and extend bythe finger bending and extension driving mechanisms through the rope driving mechanisms so as to form underactuation; and the thumb rotation driving mechanism is installed in the palm and is used fordriving the thumb to rotate. The underactuated lightweight human-simulated five-finger dexterous hand has the characteristics of the simple and compact structure, light weight, low cost, modular design, easiness in removal and replacement, high integration level, multiple degrees of freedom, small size, flexibility, good stability and the like, and the size of the underactuated lightweight human-simulated five-finger dexterous hand is similar to that of a hand.

Description

technical field [0001] The invention belongs to the technical field of bionic robots, in particular to an underactuated lightweight humanoid five-fingered dexterous hand. Background technique [0002] Traditional drive methods include hydraulic drive, pneumatic drive and motor drive. The hydraulic drive method is suitable for high-precision and heavy load occasions. The disadvantages are high cost and oil leakage; the pneumatic drive method has the characteristics of good safety and no pollution to the environment. The disadvantage is that the power-to-mass ratio is small, and it is suitable for small loads and high precision Occasions with low requirements; the motor drive mode has a simple structure and a large power-to-mass ratio, which is suitable for medium loads; there are also some new material drive modes, the research technology is relatively immature, the control is unstable, and the reliability is relatively poor. For the humanoid dexterous hand that requires hig...

AI Technical Summary

Problems solved by technology

[0003] The existing humanoid dexterous hand has a large structure, bulky appearance, and complex control, and has relatively large defects in volume, weight, dexterity, and flexibility.

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