12-freedom-degree five-finger mechanical arm

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...

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

Images