12-freedom-degree five-finger mechanical arm

A technology of degrees of freedom and manipulators, applied in the direction of manipulators, manufacturing tools, chucks, etc., can solve problems such as large size, complex manipulator structure, and high cost

Active Publication Date: 2020-05-05
清瑞博源智能科技河北有限责任公司
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] At present, the existing manipulators are mainly driven by rope and motor gear transmission. The structure of the motor gear drive manipulator is complex, and the size is large and the cost is high.
Rope-driven manipulators generally have the problem that the tendons are easy to loosen, which affects the use and life

Method used

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  • 12-freedom-degree five-finger mechanical arm
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  • 12-freedom-degree five-finger mechanical arm

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Embodiment Construction

[0024] Below in conjunction with accompanying drawing and embodiment technical solution of the present invention is described in detail as follows:

[0025] For ease of description, the side of the palm is called the front side, the back side of the hand is called the back side, the side close to the little finger is called the left side, and the side close to the thumb is called the right side.

[0026] A 12-degree-of-freedom five-finger manipulator according to an embodiment of the present invention, its overall structure can be found in figure 1 , this manipulator comprises palm 7, palm skin 6 (can increase friction, is convenient to grab object), five fingers ( figure 1 The middle marks 1, 2, 3, 4, 5 respectively correspond to the thumb, index finger, middle finger, ring finger and little finger), the base 9 fixedly connected with the palm 7 (the base 9 has a shell, figure 1 The shell of the base is not shown in the figure), a plurality of tactile sensors and a plurality ...

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Abstract

The invention relates to a 12-freedom-degree five-finger mechanical arm, and belongs to the technical field of robots. The mechanical arm comprises a palm, five fingers, 12 drive modules, angle sensors and touch sensors. A tendon transmission manner is adopted in the mechanical arm, motors in the drive modules are used for supplying power, tendon ropes of the fingers are driven to move, and accordingly the whole arm is driven. The mechanical arm totally has 12 freedom degrees, and in each freedom degree, a pair of tendon ropes are controlled by the corresponding drive module. Each of the indexfinger, the middle finger and the ring finger has 2 freedom degrees, and each of the thumb and the little finger has 3 freedom degrees. The five fingers can achieve the buckling/unbending movements specifically including buckling/unbending of various finger near-end knuckles, buckling/unbending of middle-end knuckles and buckling/unbending of tail-end knuckles. The touch sensors are arranged at the positions of fingertips and the palm skin of the mechanical arm, the angle sensors are arranged at the joint positions, the pressure, the angle and other information are fed back in real time, thegrabbing accuracy and softness are guaranteed, and accurate control and grabbing of the mechanical arm can be achieved.

Description

technical field [0001] The invention belongs to the technical field of robot hands, in particular to a novel 12-degree-of-freedom five-finger manipulator. Background technique [0002] In recent years, robots have developed rapidly and have been operating in different environments such as factories, battlefields, and space, and the end effector is a key part of them. Most of the end effectors are single-degree-of-freedom clamp-type or parallel-moving mechanisms, and there are even vacuum suction cup-type mechanisms for handling. Most of these end-effectors are simple in structure and easy to control, and are suitable for heavy-duty operations. However, due to their shortcomings such as weak versatility, low intelligence, and poor precision, these simple end-effectors can no longer meet the requirements of human beings for complex tasks. The requirements of sexual tasks also limit the development of robots in many fields. Therefore, the five-fingered manipulator has attract...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J15/00B25J15/02B25J17/02
CPCB25J15/0009B25J15/02B25J17/0258
Inventor 孙富春方斌朱畅史勇
Owner 清瑞博源智能科技河北有限责任公司
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