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A collaboratively driven three-fingered robotic dexterous hand

A robot and dexterous hand technology, applied in the field of robotics, can solve the problems of difficulty in adapting to work requirements, large volume and weight of three-fingered robot hands, and high cost, so as to improve finger grasping force and grasping stability, retain dexterity, The effect of reducing peak stress

Active Publication Date: 2021-06-15
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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  • A collaboratively driven three-fingered robotic dexterous hand
  • A collaboratively driven three-fingered robotic dexterous hand
  • A collaboratively driven three-fingered robotic dexterous hand

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Embodiment Construction

[0027] The embodiments of the present invention will be further described below with reference to the accompanying drawings and examples. It should be noted that the embodiments are not limited to the scope of the invention.

[0028] The way of use is as follows:

[0029] Such as figure 2 , 6 As shown in FIG. 7, when the first motor 14 is rotated, the second gear 7 is rotated by the first gear 8, and the first gear 8 drives the ball screw 18 to rotate, the slider 15 coincides with the ball screw 18 and the optical axis 34. The downward line movement, the first wire rope 17 is tensioned, the second wire rope 33 is relaxed, the finger is curved under the action of the first wire rope 17, and the displacement amount of the first wire rope 17 and the second wire rope 33 make up each other, the rope is not Produce excess strokes.

[0030] Such as figure 2 Design, the first motor 14 is rotated in reverse, the second gear 7 is rotated by the first gear 8, and the first gear 8 is rotated,...

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Abstract

The invention discloses a three-finger robot dexterous hand driven in coordination; the invention is designed with reference to the grasping characteristics of human hands, so that the dexterous hand can reproduce the grasping function of human hands to the greatest extent; It has the function of manipulating objects; while simplifying the control of the dexterous hand, it retains the dexterity of the robot hand as high as possible.

Description

Technical field [0001] The present invention relates to the field of robots, in particular to a three-poinse-driven three-poinse robot. Background technique [0002] Since the birth of the robot, countless experts scholars have been drunk, have successfully developed a group of famous multi-joint cleavage, these high smart hands have a high degree of smart, to a large extent reproduction human hand function, but universal structure Complex, the control is extremely difficult. The post-experts scholar proposed the drive thinking, but while reducing the difficulty of controlling the robot, it also reduced the smart in the robot. Therefore, how to grasp the highest pixabological and simpler control balancing points, which is the key issue in the field of robots. [0003] Studies on human hand physiological characteristics and grasping characteristics can bring new ideas to the design of the robot. Thomasfeix et al. Adopts a classification method, classify the crawling movements of h...

Claims

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Application Information

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Patent Type & Authority Patents(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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