32-degree-of-freedom bionic compliant internal skeleton dexterous hand

Abstract

The invention discloses a 32-degree-of-freedom bionic compliant internal skeleton dexterous hand. The dexterous hand uses an anatomy structure of a human hand for reference, a hand portion is of an inner skeleton type, and the outer surface is suitable for being covered with a flexible bionic skin layer with a certain thickness; a joint adopts double-driver antagonistic type drive, so that the compliance operation and the robustness are both taken into account; a tendon coupling piece and a tendon sheath fixing piece are adopted, so that the hand portion and a wrist portion can be easily disassembled and assembled; metacarpophalangeal joints of five fingers all have convolution degrees of freedom so that the fingers can automatically and compliantly adapt to a complex curved surface; a carpometacarpal joint of a thumb has two degrees of freedom of bending-stretching and annular rotation, a metacarpophalangeal joint of the thumb has the degree of freedom of side sway, carpometacarpal joints of a ring finger and a small finger have degrees of freedom of bending-stretching and inward retracting-outward stretching, an opposing action can be performed so that complex pinching operationcan be executed; the axes of all the degrees of freedom of the multi-degree-of-freedom joint are orthogonal, so that control and motion planning calculation is facilitated; and the dexterous hand is very suitable for compliantly operating objects of complex shapes, so that production, disassembly, assembly and maintenance are facilitated.

Description

technical field [0001] The invention belongs to the field of bionic dexterous hands, in particular to a 32-degree-of-freedom bionic pliable endoskeleton dexterous hand. Background technique [0002] The bionic dexterous hand refers to a manipulator with a finger index, degree of freedom, shape and function close to that of a human hand. It can manipulate objects flexibly and delicately. It is suitable as a high-performance prosthesis, or used in industrial scenarios such as flexible assembly. It can also replace people in pollution, poisoning, Operations in hazardous environments such as radiation, as well as application to service robots with strong versatility, are key components of bionic robots or humanoid robots. The bionic dexterous hand is characterized by a small hand size and a large number of joints, which requires greater force transmission in a small space, and often requires independent control of each joint to achieve high flexibility. [0003] At present, dex...

AI Technical Summary

Problems solved by technology

Most of the existing dexterous hands have not yet fully realized the palm-to-palm function, and it is difficult to perform complex pinching actions

[0008] Most of the current dexterous hands use exoskeleton solutions, the outer shell is relatively hard, the palm is often a whole piece, and there is not enough space on the surface of the hand to cover the flexible bionic skin layer with a certain thickness, which is not conducive to the implementation of compliant grip and operate

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