Six-freedom-degree five-finger mechanical arm

Abstract

The invention relates to a six-freedom-degree five-finger mechanical arm. The six-freedom-degree five-finger mechanical arm comprises a palm shell, a thumb shell, an index finger shell, a middle finger shell, a ring finger shell and a little finger shell, wherein the thumb shell, the index finger shell, the middle finger shell, the ring finger shell and the little finger shell are arranged on thepalm shell. A thumb rotating mechanism and a thumb bending and stretching mechanism are arranged between the palm shell and the thumb shell, and an index finger bending and stretching mechanism, a middle finger bending and stretching mechanism, a ring finger bending and stretching mechanism and a little finger bending and stretching mechanism are arranged between the palm shell and the index finger shell, between the palm shell and the middle finger shell, between the palm shell and ring finger shell and between the palm shell and the little finger shell. Compared with the prior art, the mechanical arm comprises five fingers, each finger can be independently controlled through a motor, all fingers can be allowed to independently move, the standard grabbing gesture is achieved, the real prosthesis effect can be conveniently simulated, and the advantages of being multiple in freedom degree, high in function compensation and the like are achieved.

Description

technical field [0001] The invention belongs to the technical field of manipulators, and relates to a six-degree-of-freedom five-finger manipulator. Background technique [0002] In the process of human evolution and development, human palms have undergone continuous evolution from the initial role of supporting the ground in the ape-man era until now. Nowadays, human palms are very dexterous and agile, and can help people complete many complicated tasks. , become the most important part of the human body. In view of the lack of hand functions of some patients, the R&D and design of manipulators has become one of the hot topics at present. At the same time, the dexterity of human hands has become the ultimate goal that many manipulators want to achieve. Since the overall structure of the five-finger manipulator is composed of five fingers and the back of the palm like a human hand, it has better functionality and practicability than ordinary manipulators. Today, five-finger...

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Problems solved by technology

[0004] The research on the five-finger manipulator can also supplement the lack of high-end medical equipment in China. At present, the Chinese rehabilitation and prosthetics market is occupied by some well-known foreign companies, such as Ottobock, Endolite, Protero and other related products, although these products are compared with domestic self-developed products. In terms of functionality, their products are relatively expensive, and ordinary families cannot afford them, which limits their further application.

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