A humanoid dexterous hand with passive rotating joints and its operating method

Abstract

The invention relates to the technical field of robotic dexterous hands, and discloses a humanoid dexterous hand with passive rotary joints and an operation method thereof, including a first finger, a second finger, a third finger, a palm, a first drive motor, a second a driving motor and a third driving motor. The device solves the problems of complex structure, poor reliability and the like existing in the coupling transmission mechanism of the existing humanoid dexterous hand, and at the same time adds an additional rotational degree of freedom to the fingers of the dexterous hand. The humanoid finger of the device can rotate around its own central axis by using the rotating joint, and can independently change various grasping postures for objects of different shapes, which enhances the adaptability of the dexterous hand; by adjusting the length of the passive rope and the active rope, it can adjust and recalibrate the initial pose of the dexterous hand. The novel humanoid dexterous hand designed by the invention can realize envelope grasping without complex control system and transmission system, has passive rotation degree of freedom, and has high self-adaptive ability to objects of 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

Images