Intelligent multifunctional two-finger bionic dexterous hand

A multifunctional and living technology, applied in the field of bionic manipulators, achieves the effect of enhancing dexterity and improving the ability of tasks

Pending Publication Date: 2019-05-17
NORTHWEST A & F UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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, ...

Method used

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  • Intelligent multifunctional two-finger bionic dexterous hand
  • Intelligent multifunctional two-finger bionic dexterous hand
  • Intelligent multifunctional two-finger bionic dexterous hand

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Embodiment Construction

[0026] The implementation of the present invention will be described in detail below in conjunction with the drawings and examples.

[0027] Such as figure 1 with figure 2 As shown, an intelligent multifunctional two-finger bionic dexterous hand of the present invention is mainly composed of a mechanical system, a power supply system and a control system.

[0028] The mechanical system mainly includes index finger 1, connector 2, thumb 3, traction rope one 4, traction rope two 5, traction rope three 16, box body 8, winding post 19, reel one 6, reel two 18 , reel three 15 and upper cover 20; power supply system mainly includes battery 10, voltage stabilizing and voltage transformation module 14; control system mainly includes computer 11, controller 12, driver 13, micro DC motor 1 7, micro DC motor 2 17. Micro DC motor three 9.

[0029] The explosion diagram of index finger 1 is as follows image 3 As shown, it mainly includes index finger distal segment 1-1, index finger ...

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PUM

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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...

Claims

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Application Information

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IPC IPC(8): B25J15/00B25J15/02
Inventor 李智国毛雨潇邹卓霖柴鹏鹏陈小静
Owner NORTHWEST A & F UNIV
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