Humanoid dexterous robotic hand with passive rotating joint and operation method thereof

Abstract

The invention relates to the technical field of dexterous robot hands, and discloses a humanoid dexterous robotic hand with passive rotating joints and an operation method thereof. The humanoid dexterous robotic hand with the passive rotating joints comprises a first finger, a second finger, a third finger, a palm, a first driving motor, a second driving motor and a third driving motor. The humanoid dexterous robotic hand with the passive rotating joints solves the problems that a coupling transmission mechanism of an existing humanoid dexterous robotic hand is complex in structure, poor in reliability and the like, and meanwhile, a degree of rotational freedom is additionally provided for the fingers of the dexterous robotic hand. The humanoid fingers of the humanoid dexterous robotic hand can rotate around the central axes of the humanoid fingers by utilizing the rotating joints, and can be transformed automatically into a plurality of grabbing postures according to objects in different shapes, so that the adaptability of the dexterous robotic hand is enhanced; and the length of driven ropes and the length of driving ropes are adjusted, so that the initial pose of the dexterous robotic hand can be adjusted and re-calibrated. The novel humanoid dexterous robotic hand can achieve the envelope grabbing without a complicated control system and a transmission system, and has a passive degree of rotational freedom and the relatively high adaptability to the objects in different shapes.

Description

technical field [0001] The invention relates to the technical field of anthropomorphic robotic hands, in particular to a structural design of an anthropomorphic dexterous hand with passive rotary joints and an operating method thereof. Background technique [0002] The robotic dexterous hand is a high-tech automated production equipment developed in recent decades. It can accurately complete various expected operations in various environments through control, and has the advantages of both humans and machines in terms of structure and performance. It embodies the intelligence and adaptability of people. [0003] At present, most of the dexterous hands that have been successfully developed are arranged in the degree of freedom of fingers similar to human hands, with four joints and three degrees of freedom. Different control methods have also been proposed in the prior art to realize the grasping operation of the dexterous hand. However, the existing finger joints of humanoi...

AI Technical Summary

Problems solved by technology

However, the existing finger joints of humanoid dexterous hands use coupling transmission mechanisms, such as patents CN201210408685, CN201710819677, etc., which have problems such as many components, complex structures, and poor reliability.

[0004] In addition, most of the current humanoid dexterous hands do not have rotational freedom. When the central axis of the target object is aligned with the main axis of the dexterous hand's grasping space, most humanoid dexterous hands are able to grasp the preset target object

However, when the central axis of the target object is not aligned with the main axis of the grasping space of the dexterous hand, since the grasping force of the fingers does not act on the target object in a direction perpendicular to the contact surface, the grasping force needs to be decomposed along the direction of action, resulting in grasping The efficiency of the force is low; in addition, at the contact point, the finger cannot be tangent to the surface of the target object, and the maximum grasping area cannot be achieved, which will easily lead to unstable grip and the risk of the target object slipping

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