Multi-degree of freedom human-simulated rigid-flexible mixing hand and manufacturing technology thereof

Abstract

The invention discloses a multi-degree of freedom human-simulated rigid-flexible mixing hand and a manufacturing technology thereof, and belongs to the technical field of robots. Each soft finger includes metacarpophalangeal joints and interphalangeal joints, wherein a central air flue communicates with a central air cavity. A plurality of metacarpophalangeal joint air cavities surround the central air flues. A layer of fiber limiting threaded pipes are wound around the metacarpophalangeal joint air cavities. The central air flues and the tail ends of the multiple metacarpophalangeal joint aircavities are inserted into a finger base. A ventilating cavity is formed inside the body of a hard palm, and the hard palm fix the soft fingers through screws. Each central air flue, each metacarpophalangeal joint cavity and each central air cavity achieve air inflow through capillary silica gel hoses. The active degree of freedom is multiple, the human hand joint structure is simulated, and thejoint angle and motion relations are close to human hand parameters. Due to the joint type structure, compared with a continuous bent soft claw, the hand has the larger enveloping space, the grabbingperformance is better, the flexibility is good, and the hand has the good adaptability for soft and fragile objects and unstructured environment.

Description

technical field [0001] The invention belongs to the technical field of robots, and in particular relates to a multi-degree-of-freedom humanoid rigid-flexible mixed hand and a manufacturing process thereof. Background technique [0002] As a kind of robot end gripper, the robot hand is used for tasks such as gripping and manipulating objects. In order to make it have gripping and operating performance similar to that of human hands, many robotic grippers are designed in a humanoid configuration. Most of them have multiple fingers (three fingers, four fingers, five fingers or even more fingers) [1-3], and different fingers can work together to imitate human hands to achieve precision grasping, side grasping, strong grasping, etc. mode, or operate the tool [4] (such as turning the pen, twisting the Rubik's Cube [5], etc.). The traditional robot hand uses rigid components and kinematic pairs to form a kinematic chain, and uses actuators such as motors and artificial muscles to...

AI Technical Summary

Problems solved by technology

There are some inherent defects in these rigid robot hands: 1) In order to achieve multi-degree-of-freedom cooperative motion, rigid manipulators generally install a large number of motors at the joints

Now some soft robotics technology has been applied to the robot hand, but there are still some common defects: 1) There are fewer active degrees of freedom, and compared with the human hand, only limited grasping modes can be realized

2) The fingers are bent with approximately constant curvature, and the envelope space is insufficient to limit the dexterity [12]

3) The structure cannot be disassembled and is not easy to maintain

4) It is necessary to connect large-volume and complex-structured air pumps, valve sets and other accessories, which increases the overall volume and weight of the system

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