Manipulator underactuated driving structure applied to piano teaching and design method

Abstract

The invention discloses a manipulator underactuated driving structure applied to piano teaching and a design method. The manipulator underactuated driving structure comprises a far knuckle DIP structure, a near knuckle PIP structure, a palm knuckle MCP structure, a connecting rod, a finger swing mechanism, a circulation swing mechanism rotating shaft and a palm fixing plate, wherein the far knuckle DIP structure, the near knuckle PIP structure and the palm knuckle MCP structure are sequentially connected, the near knuckle PIP structure is formed by movably connecting a lower PIP structure andan upper PIP structure, an inverted triangular sliding rail is integrally arranged on the lower PIP structure, a sliding groove matched with the inverted triangular sliding rail is formed in the upperPIP structure, linear slideways are arranged on the two sides of the palm knuckle MCP structure, the finger swing mechanism is movably connected with one end of the connecting rod, the other end of the connecting rod is movably connected with the linear slideways, rotation of the palm knuckle MCP structure is controlled through the linear slideways, the connecting rod and the rotation of the finger swing mechanism, and the finger swing mechanism is movably connected with the palm fixing plate through the circulation swing mechanism rotating shaft.

Description

Technical field [0001] The invention relates to the field of educational service robots, in particular to an under-actuated structure and design method of a manipulator applied to piano teaching. Background technique [0002] With the development of robots, robots have been applied to various fields [1] . International Federation of Robotics (IFR) proposed [2] Robot is a programmable drive mechanism with a certain self-control ability. According to the actual situation and perception ability, it can perform scheduled tasks in a specific environment without human intervention. In recent years, educational and teaching robots have emerged. Many talents have invested in the research of educational robots, educational robots [3] It has been used in actual combat, competitive games and assisting special children in learning. In the future, the development of educational robots will be more comprehensive and advanced [1] . [0003] A professional hand movement skill when playing the pi...

AI Technical Summary

Problems solved by technology

In addition, most of the existing exoskeleton-assisted manipulator mechanisms are not suitable for different lengths and ratios of human hands, and there is no suitable adjustment method. Even if there is, it is manually adjusted, which is time-consuming and laborious.

In order to fit the finger movement curve, many exoskeleton manipulators are designed with complicated structures, resulting in the overall structure being too heavy and difficult to carry and wear

And because piano playing requires tactile feedback, it cannot adopt an all-inclusive structure.

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