Humanoid five-finger manipulator

A manipulator and five-finger technology, applied in the field of multi-finger anthropomorphic manipulators, can solve the problems of not being able to open four fingers together, slow response speed, and small load.

Inactive Publication Date: 2019-06-25
BEIJING UNIV OF CHEM TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The disadvantage is that the general tendon rope has a certain degree of contractility, requires a tensioning device, the load is small, the control is complicated, and the response speed is slow
Underactuated dexterous hand control is relatively simple, but some dexterity is lost
In addition, most of the current dexterous hands can only flex and extend the fingers, and cannot open and close the four fingers except the thumb.

Method used

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  • Humanoid five-finger manipulator
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  • Humanoid five-finger manipulator

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0021] An anthropomorphic five-fingered manipulator, comprising a palm base 3, a palm and five fingers 1 connected to the palm. The five fingers are exactly the same, each finger has three joints, and it is characterized in that it also includes.

[0022] The fingers of the manipulator each have 3 joints. The knuckle joint and the middle knuckle are driven by the drive motor, so that the joint rotates around the rotation axis. The fingertip 4 and the middle finger 5 are connected by a connecting rod 7 to form a four-bar linkage, and the fingertip is driven by the middle finger. Complete the grasping motion of the fingers.

[0023] For the finger of the manipulator, an angle sensor 10 is installed on the rotation axis of the root joint and the middle finger joint.

[0024] The thumb of the manipulator is additionally provided with a rotating motor on the finger base 11, so that the thumb can rotate in a plane perpendicular to the palm.

[0025] The driving motor of the manip...

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PUM

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Abstract

The invention relates to a humanoid five-finger manipulator. The manipulator has twelve degrees of freedom, and is suitable for achieving the effect of simulating a human hand when the grabbing work of a multi-finger hand of a humanoid robot is carried out. The humanoid five-finger manipulator comprises a base, a palm, five fingers connected to the palm and a connecting rod mechanism inside the palm, each finger is provided with a plurality of joints, the finger root joints and the finger middle joints are driven by built-in motors in an active mode, joint position transmission mechanisms driven by the motors are driven by worm gears and worms, power-off self-locking can be achieved, the fingertip joints are driven by connecting rods in a driven mode so as to rotate along with the rotationof finger middles. The fingers can be bent and straightened and can be unfolded and folded, and unfolding and folding are realized through the connecting rod mechanism in the palm.

Description

technical field [0001] The invention relates to a multi-fingered humanoid manipulator, which has 12 degrees of freedom, and is suitable for the multi-fingered hand of a humanoid robot to achieve the effect of anthropomorphic hands during grasping work. Background technique [0002] With the development of industrialization, human production activities are becoming more and more complex, dangerous and diverse, such as inspection and maintenance of equipment in environments such as underwater, underground, nuclear radiation, and space stations; precise operations on some large objects, such as Assembly of automobiles; minimally invasive surgery in medicine, etc. These jobs are either dangerous or difficult to complete, and it is very necessary for robots to replace humans to complete these jobs. [0003] These complex tasks require that the robot's hand device has the ability to complete fine manipulations, and at the same time, it can quickly adapt to the grasping of objects...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J15/00
Inventor 陈国华余洋洋张爱军
Owner BEIJING UNIV OF CHEM TECH
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