A class of parallel multimodal robotic dexterous hands

Abstract

The invention relates to parallel multi-mode robot dexterous hands. Each of the three robot dexterous hands comprises a palm, a first finger, a second finger and a third finger, wherein a main body structure of the palm comprises a pair of shared drive double-slider mechanisms, and the fingers comprise a parallel five-bar RR-RRR finger, a parallel five-bar RR-RPR finger and a parallel five-bar RR-PRR finger. Each finger of the dexterous hands adopts a fully drive mode, and after an objected is clamped by a spherical fingertip, the overall finger is equivalent to a multi-mode reconfigurable 3-[P][S] parallel mechanism and has two-movement two-rotation operating degree of freedom on the whole object. Compared with the prior art, the robot dexterous hands give play to the structural advantages of a parallel mechanism and a reconfigurable mechanism and have the characteristics of high bearing capacity, high task adaptability and high operability on the object, and the fingers can bend inward and outward, so that the working space is remarkably enlarged.

Description

technical field [0001] The invention belongs to the field of robots, in particular to a kind of parallel multi-mode robot dexterous hand. Background technique [0002] As an important end effector of robots, the dexterous hand plays an irreplaceable role in the service industry, industry and other industries because it can achieve precise, flexible and efficient movements, and can meet various operating tasks under complex working conditions. The dexterous hand of traditional anthropomorphic fingers has been extensively studied. In recent decades, a variety of dexterous hands have come out, such as the famous Shadow hand, Utah / MIT hand, Stanford / JPL hand and so on. The fingers of the traditional dexterous hand are usually designed in the form of multi-rotation joints in series, and an underactuated method combining elastic elements with rope drive or tendon drive is used. Although this design method makes the structure and function of the dexterous hand closer to the human h...

AI Technical Summary

Problems solved by technology

The fingers of the traditional dexterous hand are usually designed in the form of multi-rotation joints in series, and an underactuated method combining elastic elements with rope drive or tendon drive is used. Although this design method makes the structure and function of the dexterous hand closer to the human hand, it leads to Performance indicators such as carrying capacity, work space, adaptability to tasks, and operability to target objects are not ideal, which greatly limits the wide application of dexterous hands, especially in the industrial field.

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