32 degrees of freedom bionic compliant endoskeleton dexterous hand

Abstract

The invention discloses a 32-degree-of-freedom bionic pliable endoskeleton dexterous hand. The dexterous hand uses the anatomical structure of the human hand for reference. Antagonistic drive of the driver, taking into account soft operation and robustness; using tendon joints and tendon sheath fixing parts, easy to disassemble the hands and wrists; the metacarpophalangeal joints of the five fingers have rotational degrees of freedom, so that the fingers can automatically and smoothly adapt Complex curved surfaces; the wrist metacarpal joint of the thumb has two degrees of freedom of flexion and extension and rotation, the metacarpophalangeal joint of the thumb has the degree of freedom of lateral swing, and the wrist metacarpophalangeal joints of the ring finger and little finger have degrees of freedom of flexion and extension, adduction and abduction, and can Make palm-to-palm movements to perform complex pinching operations; the axes of each degree of freedom of the multi-degree-of-freedom joints are orthogonal, which is beneficial to control and motion planning calculations; this dexterous hand is very suitable for softly manipulating complex-shaped objects, and is convenient for production, disassembly and assembly and maintenance.

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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