Intelligent multifunctional two-finger bionic dexterous hand

Abstract

The invention relates to an intelligent multifunctional two-finger dexterous hand which comprises a mechanical system, a power supply system and a control system. The mechanical system includes an index finger, a connecting piece, a thumb, a traction rope, a box, a wrapping post and a winding reel; the thumb includes a distal joint, a proximal joint and a propodite, the index finger comprises a distal joint, a middle joint, a proximal joint and a propodite, and the length ratio of a knuckle is obtained by referring to anthropometry data. Bending of the thumb and the index finger is realized bydragging one traction rope through a micro DC motor, and actions of strong grasping and precise pinching are further completed; and the micro DC motor drags the one traction rope to rotate the thumbto change the posture, and a preparation is made for side pinching. The dexterous hand can grasp objects such as cylinders with curved surfaces on the surfaces through a strong grasping mode, objectssuch as cuboids comprising parallel planes are grasped in a precise pinching mode, and cake-shaped disc-like objects are gasped in a side pinching mode. During working in an unstructured environment,the grasping modes are changed to adapt to grasping and release operation of the target objects in different sizes and shapes, and the dexterity and adaptability of the dexterous hand are improved.

Description

technical field [0001] The invention belongs to the technical field of bionic manipulators, in particular to an intelligent multifunctional two-finger bionic dexterous hand. Background technique [0002] In recent years, the demand for special robots has been increasing in fields such as coal mine rescue, seabed salvage, military reconnaissance, nuclear energy utilization and space exploration. When performing tasks, the manipulator of the robot is often required to approach-grasp-move-release the target in an unstructured environment. The shape irregularity and size difference of the target is a huge challenge for special robots to complete the predetermined tasks. When the human hand grasps this type of target, the shape and size of the target usually determine the type of grasping mode used by the fingers, such as strong grip, precision pinch, and side pinch. At present, most two-finger manipulators are composed of two planar fingers, which can only realize parallel gri...

AI Technical Summary

Problems solved by technology

At present, most two-finger manipulators are composed of two planar fingers, which can only realize parallel clamping of planar objects, and it is difficult to achieve stable grasping and releasing operations on targets of different shapes and sizes by changing the grasping mode.

Images