A six-degree-of-freedom five-finger manipulator

Abstract

The invention relates to a six-degree-of-freedom five-finger manipulator. The manipulator includes a palm shell and a thumb shell, index finger shell, middle finger shell, ring finger shell, little finger shell, and palm shell respectively arranged on the palm shell. There is a thumb rotation mechanism and a thumb flexion and extension mechanism between the thumb shell and the index finger shell, middle finger shell, ring finger shell, and little finger shell. , Ring finger flexion and extension mechanism, little finger flexion and extension mechanism. Compared with the prior art, the manipulator of the present invention includes five fingers, and each finger can be independently controlled by a motor, which can allow each finger to move independently, and can make a standard grasping posture, so as to be used to simulate a real prosthesis It has the advantages of multiple degrees of freedom and high functional compensation.

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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