bionic manipulator

A manipulator and palm technology, applied in the field of bionic manipulators, can solve problems such as no movement function, and achieve the effects of simple structure, small pulling force, and avoiding singularity

Active Publication Date: 2021-08-31
ZHEJIANG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

But this kind of hand only has a decorative function and has no real motor function

Method used

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Embodiment Construction

[0121] The structures involved in the present invention or the technical terms used will be further described below. If not specified, they will be understood and interpreted according to the general principles in this field.

[0122] PCA Principal Component Analysis

[0123] Principal component analysis (PCA) is a method of mathematical transformation, which converts a given set of related variables into another set of unrelated variables through linear transformation, and these new variables are in the order of decreasing variance. arrangement. Keep the total of variables in mathematical transformations variance Unchanged, the first variable has the largest variance, called the first principal component, the second variable has the second largest variance, and is not related to the first variable, called the second principal component, and so on.

[0124] force output line

[0125] The force output line refers to the twisted wire connected to the drive motor. The twisted...

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Abstract

A bionic manipulator has a palm, a thumb 1, an index finger, a middle finger, a ring finger 4 and a little finger, the index finger, the middle finger, the ring finger 4 and the little finger have respective proximal knuckles, middle knuckles and far knuckles, and the proximal knuckles are hinged to the palm; Each joint has its own pair of wire shafts and a spring located between the insertion points; each finger has its own drive motor and force output line, and each force output line includes at least two segments that can be intertwined with each other. The output line passes through the wire shaft on the finger in turn, the far end is fixed with the wire shaft on the far knuckle, and the other end of the line segment is fixed with the output end of the motor. The twisted force output line is used to drive the finger to bend, and the torque of the motor is converted to the length change of the force output line. The force output line bears a small pulling force, is not easy to break, and has a large output force.

Description

technical field [0001] The invention relates to a bionic machine, in particular to a bionic manipulator. Background technique [0002] The main fields of bionic machinery research are biomechanics, control bodies and robots. Biomechanics studies the mechanical phenomena and laws of life, including biomaterial mechanics, biofluid mechanics and body mechanics. Control bodies and robots are engineering technology systems built based on knowledge learned from living things. [0003] According to statistics, the hand is one of the most vulnerable human organs. Due to the criss-crossing of internal nerves, blood vessels, and small muscles, once damaged, the treatment is very difficult, and the functional recovery after treatment is not ideal. Moreover, not only damage to the hand itself will affect its motor function, but damage to the brain, spine, arms, etc. will also cause the loss of motor function of the hand when it does not affect the body of the hand. [0004] The bioni...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J15/00B25J15/02B25J17/02
CPCB25J15/0009B25J15/0233B25J17/0258
Inventor 王宏涛金永斌朱颖
Owner ZHEJIANG UNIV
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