Dexterous hand of robot

Abstract

The invention discloses a dexterous hand of a robot. The dexterous hand of the robot comprises a palm, fingers, a tendon rope and an elastic rope, wherein the palm comprises a substrate, a thumb connecting joint, a third finger connecting joint and a little finger connecting joint; the thumb connecting joint, the third finger connecting joint and the little finger connecting joint are provided with round mounting holes, are connected to the substrate through a rotary shaft, and can rotate at a limited angle around the rotary shaft. The fingers comprise the thumb, the index, the middle finger,the third finger, the little finger, coupling fastening parts, non-coupling fastening parts and a tensioning device; the root knuckle of each finger is connected to the palm through a rotary pair; thenon-coupling fastening parts are mounted on the thumb root knuckle of the thumb and the far knuckle of the thumb and between the thumb root knuckle and the thumb connecting joint on the palm, the non-coupling fastening parts are mounted at the connections of the root knuckles of the rest four fingers and the palm, and three knuckles of the fingers are connected through two coupling fastening parts.

Description

technical field [0001] The invention relates to the field of robots, in particular to a robot dexterous hand. Background technique [0002] With the continuous development of modern technology and the advent of the robot upsurge, robots will more and more participate in human production and life. In the future, many jobs will be done by robots, especially in the field of elderly care. This is the end of the robot. Actuators have higher requirements. The traditional robot end effector has a single operation mode, few degrees of freedom, and poor flexibility, so a dexterous end effector—dexterous hand came into being. The dexterous hand is a multi-degree-of-freedom robot end effector that can grasp objects of different shapes and materials and perform fine manipulation. The existing dexterous finger drive methods can be divided into two categories, one is full drive and the other is under drive. The advantage of full drive is that each degree of freedom can be controlled, t...

AI Technical Summary

Problems solved by technology

The advantage of full drive is that each degree of freedom can be controlled, that is, each joint of the finger can rotate independently, and complex grasping actions can be realized. The control algorithm is easy to design, but due to the excessive freedom of the dexterous hand, the number of drive motors is too large , causing the cost of the dexterous hand to be too high, and it is prone to failure; the advantage of the underactuated dexterous hand is that the number of driving motors is small, the cost is low, energy saving, cost reduction, weight reduction, and enhanced system flexibility, but it cannot realize independent rotation of each joint , the grasping action can only be realized by the coupling relationship between the joints, and the grasping stability is not high

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