Highly integrated bionic manipulator

A manipulator, highly integrated technology, applied in the field of bionic machinery, can solve the problem of no movement function and so on

Active Publication Date: 2019-08-20
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 highly integrated bionic manipulator comprises a palm, wherein the palm comprises a back framework and a palm center framework, the back framework and the palm center framework form an accommodatingcavity, a finger driving motor set is arranged in the accommodating cavity, the finger driving motor unit comprises an index finger motor, a middle finger motor, a third finger motor and a small finger motor, and output shafts of the index finger motor, the middle finger motor, the third finger motor and the small finger motor are respectively aligned with corresponding fingers; the force outputline is fixedly connected with an output shaft of the finger driving motor; and one lead axis of the proximal phalanx-metacarpal joint is located in the proximal phalanx, and the other lead axis is located in the palm. The finger driving motor set is totally integrated in the palm and/or fingers, the whole mechanical size is close to the size of hands of an adult, high integration is achieved, signal wires and power wires of the finger driving motor set led out of the palm, and plug and play can be achieved.

Description

technical field [0001] The invention relates to a bionic machine, in particular to a highly integrated 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. ...

Claims

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Application Information

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Patent Type & Authority Applications(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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