Fully-driven five-finger dexterous hand structure and control system

A control system and structure control technology, applied in the field of robots, can solve the problems of insufficient flexibility of dexterous hands, reduced bionic performance, complicated control system, etc., and achieve the effect of convenient disassembly and installation of steering gear, scientific and reasonable structure, and improved flexibility.

Inactive Publication Date: 2019-05-21
JILIN UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0004] The present invention provides a fully-driven five-finger dexterous hand structure and control system, which can effectively solve the problem that the ordinary dexterous hand has few degrees of freedom in the above-mentioned backgrou...

Method used

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  • Fully-driven five-finger dexterous hand structure and control system
  • Fully-driven five-finger dexterous hand structure and control system
  • Fully-driven five-finger dexterous hand structure and control system

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Embodiment

[0036] Example: such as Figure 1-8 As shown, the present invention provides a technical solution, a fully driven five-finger dexterous hand structure, including a fixed base 1, a palm 2 is installed on the top of the fixed base 1, and a metacarpal bone 3 is installed on one side of the palm 2, and the number of metacarpal bones 3 is five , the proximal phalanx 7 is mounted on one end of the metacarpal 3, the middle phalanx 8 is mounted on one end of the proximal phalanx 7, the distal phalanx 9 is mounted on one end of the middle phalanx 8, between the metacarpal 3 and the proximal phalanx 7, between the proximal phalanx 7 and Joint components 11 are installed between the middle phalanx 8 and between the middle phalanx 8 and the distal phalanx 9;

[0037] The joint assembly 11 includes a bump 1101, a rotating shaft 1102, a rotating steering gear 1103 and a fixing plate 1104;

[0038]Proximal phalanx 7, middle phalanx 8, and distal phalanx 9 are all equipped with protrusions 1...

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Abstract

The invention discloses a fully-driven five-finger dexterous hand structure and a control system. The fully-driven five-finger dexterous hand structure comprises a fixed base; a palm is mounted at thetop end of the fixed base; metacarpal bones are arranged on one side of the palm; and the number of the metacarpal bones is five. The fully-driven five-finger dexterous hand structure and the controlsystem are scientific and reasonable in structure and safe and convenient to use; through the action of one side swing steering gear and three rotary steering gears, a single finger is endowed with four degrees of freedom, wherein three of the four degrees of freedom can realize bending/stretching, and the other one degree of freedom can realize finger side swing, so that the whole fully-driven five-finger dexterous hand structure has 20 degrees of freedom, each degree of freedom is capable of being independently controlled, objects with different sizes are capable of being stably grasped, and the flexibility of the fully-driven five-finger dexterous hand structure is improved; and through the action of a pressure sensor, the contact force between the fingers and a target object is detected and fed back to a main control chip, and the main control chip controls the rotation angle of each steering gear by using data fed back by the pressure sensor and performs dynamic adjustment, so that the fully-driven five-finger dexterous hand structure grasp the objects better.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a fully driven five-finger dexterous hand structure and a control system. Background technique [0002] With the continuous development and progress of the scientific level, human beings have gradually begun to research and explore unknown fields. Robots can replace humans to work and research in unknown and dangerous fields such as space research, deep sea exploration, and nuclear energy development. In the application research of robots Among them, the end effector of the robot is the execution tool of the robot, which plays a very important role in improving the intelligence level and operation level of the robot. As the end effector of the robot, the dexterous hand can replace humans to work in unknown harsh environments. The five-fingered dexterous hand has strong versatility and multiple degrees of freedom. It can perform various human-like operations on target objects and c...

Claims

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Application Information

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IPC IPC(8): B25J15/00B25J15/02B25J13/08B25J19/02
Inventor 杜巧玲张桂平陈弘维杨文康
Owner JILIN UNIV
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