A tactile-sensing human-like hand based on nut-screw and tendon transmission
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A technology of tactile perception and imitation of human hands, which is applied in the field of tactile perception and imitation of human hands, can solve the problems of large size and weight, difficult closure and geometric closure, high cost, etc., to improve feasibility and reliability, precise movement angle changes, types and The effect of widening the range
Active Publication Date: 2021-06-11
BEIJING INST OF AEROSPACE CONTROL DEVICES
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These dexterous hand control requirements are high, the size and weight are large, and the system is complex and costly
[0004] At present, there are some difficulties in the development of dexterous hands, mainly because it is difficult for dexterous hands to form a complete force closure and geometric closure when grasping objects, resulting in low stability and reliability of grasping objects
In terms of fine operation and helping the elderly and disabled, the precision and accuracy are not high
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[0028] The present invention will be further described in conjunction with the accompanying drawings and specific examples:
[0029] The present invention provides a tactile sensor-like manner based on a nut screw and tendon transmission, which has a five finger structure, which can grab different shapes and volume of objects. At the same time, there is a tactile sensor, and can measure the transient contact force size, feedback pressure signal, change, and transfer rotary electric output forces and output moments, improve the operation of the smart hand. Sexuality and adaptability.
[0030] Such as figure 1Due to the integration of tactile sensation, the manual schematic, known by the figure, the tactile sensation of the human hand includes thumb 1, index 2, middle finger 3, no name index 4, small finger 5, palm board 6, palm tactile sensor 8, wrist 9, wrist bracket 10, Subline disc 11, slave plate 12, nut screw mechanism group 13, screw down 14, base 16, rotary electric unit 17,...
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Abstract
A tactile-sensing humanoid hand based on nut-screw and tendon transmission, involving the field of bionic robot dexterous hands; including 5 fingers, palm board, wrist, wrist support, wiring board, nut-screw mechanism group, base, rotating electric The unit, coupling, tensioner group; the rotating electrical unit is fixedly installed on the base; the nut screw mechanism group is coaxially arranged above the output shaft of the rotating electrical unit; the coupling is arranged on the output shaft of the rotating electrical unit Between the thread distribution plate and the nut screw mechanism group; the distribution plate is set on the top of the nut screw mechanism group; the tensioner group is set around between the line distribution plate and the nut screw mechanism group; the wrist support is set on the top of the line distribution plate ; the wrist is set on the top of the wrist support; the palm plate is set on the top of the wrist; Flexibility and adaptability of movement.
Description
Technical field [0001] The present invention relates to a bionic robot in the field, particularly a tactile sensing technique based on a nut screw and tendon transmission. Background technique [0002] In the bionic robot's dexterous hand, multi-finger dexterous hand has the same functionality as human hand, can sense and capture objects. In the robot system, the smart hand is a complex multidisciplinary system, involving a variety of fields, computer graphics, torque control, motion trajectory planning, object grab, sensor binding, and robotic emotional interactions. The information exchange between the dexterity finger is very important, and the accuracy and sensitivity of the smart hand can be improved. [0003] The transmissive parts of the smart hand are varied, gear drives, connecting rod drives, tendon transmission, belt drive, hydraulic transmission, etc. For example, Nasa in the United States, the smart hand, the British Shadow Spirit, Japan's gifi dexterous hand, German...
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