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Collaborative driving three-finger robot dexterous hand

A robot and dexterous hand technology, applied in the field of robotics, can solve the problems of high cost, large volume and weight of three-fingered robot hands, and difficulty in adapting to work requirements, etc., to reduce finger peak stress, improve finger grasping force and grasping stability Sexuality, the effect of retaining dexterity

Active Publication Date: 2019-08-27
HUNAN UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The existing rotation structure is to install a rotating motor for each finger, which makes the volume and weight of the three-fingered robot hand larger, difficult to adapt to the work requirements in narrow workstations and higher cost

Method used

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  • Collaborative driving three-finger robot dexterous hand
  • Collaborative driving three-finger robot dexterous hand
  • Collaborative driving three-finger robot dexterous hand

Examples

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Embodiment Construction

[0027] The embodiments of the present invention will be further described below in conjunction with the drawings and examples. It should be noted that the embodiments do not limit the scope of protection claimed by the present invention.

[0028] The usage is as follows:

[0029] like figure 2 , 6 As shown in and 7, when the first motor 14 rotates in the forward direction, the second gear 7 drives the first gear 8 to rotate, the first gear 8 drives the ball screw 18 to rotate, and the slider 15 acts together on the ball screw 18 and the optical axis 34 Moving straight up and down, the first steel wire rope 17 is tightened, the second steel wire rope 33 is loosened, the fingers are bent under the action of the first steel wire rope 17, and the displacements of the first steel wire rope 17 and the second steel wire rope 33 compensate each other, and the rope does not Generate excess travel.

[0030] like figure 2 As shown, when the first motor 14 rotates in reverse, the s...

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Abstract

The invention discloses a collaborative driving three-finger robot dexterous hand. By the reference on the human hand grabbing characteristic design, recurrence of the human hand grabbing function canbe achieved on the dexterous hand to the maximum degree; all the fingers can conduct side swaying motion, and the dexterous hand can have an object operation function; and dexterity of the robot handis reserved as high as possible while control of the dexterous hand is simplified.

Description

technical field [0001] The invention relates to the field of robots, in particular to a cooperatively driven three-finger robot dexterous hand. Background technique [0002] Since the birth of robotics, countless experts and scholars have devoted themselves to research, and have successfully developed a batch of well-known dexterous hands with multiple fingers and multiple joints. These highly intelligent hands have extremely high dexterity and can reproduce the functions of human hands to a great extent. Complex and extremely difficult to control. Later experts and scholars put forward the idea of ​​underactuation, but while reducing the difficulty of robot hand control, it also reduces the dexterity of the robot. Therefore, how to grasp the balance between the highest dexterity and the simplest control is a key issue in the field of robotic hands. [0003] The research on the physiological characteristics and grasping characteristics of the human hand can bring new ideas...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J15/00B25J15/10
CPCB25J15/0009B25J15/10
Inventor 陈文锐王耀南赵子龙鄢锉肖志兰鲁靖文徐康
Owner HUNAN UNIV
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