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A fully actuated bionic dexterous hand based on pneumatic muscles

A pneumatic muscle, full drive technology, applied in the field of robotics, can solve problems such as inability to target dexterous operation

Active Publication Date: 2022-04-05
ZHEJIANG UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0005] The present invention overcomes the shortcomings of current underactuated manipulators that are seriously coupled and cannot perform dexterous operations on targets, and provides a fully driven bionic dexterous hand based on pneumatic muscles, which can make the joint drive more flexible and reduce the complexity of dexterous hand control , improving the precision of dexterous hand control

Method used

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  • A fully actuated bionic dexterous hand based on pneumatic muscles
  • A fully actuated bionic dexterous hand based on pneumatic muscles
  • A fully actuated bionic dexterous hand based on pneumatic muscles

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Embodiment

[0037] A fully actuated bionic dexterous hand based on pneumatic muscles, such as Figure 9 and 10 As shown, there are several fingers. As shown in the figure, the fingers include relatively rotatable far finger end 1, middle finger end 2, proximal finger end 3, and between the far finger end 1 and middle finger end 2, the middle finger end 2 and the proximal finger end. The rotating joint 4 between the finger ends 3, the middle finger end 2 is provided with a first rotating joint for rotating the far finger end 1, and the proximal finger end 3 is provided with a second rotating joint for rotating the middle finger end 2, and the rotating joint 4 includes The tendon cord fixed shaft 5 that is connected to the knuckle away from the root of the dexterous hand, the rotating pulley 6 and the auxiliary pulley 7 that are rotatably connected on the adjacent knuckle below the knuckle away from the root of the dexterous hand, and the auxiliary pulley 7 is arranged on the rotating pulle...

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Abstract

The invention discloses a fully-driven bionic dexterous hand based on pneumatic muscles, aiming to solve the problem that current under-actuated manipulators are severely coupled and unable to perform dexterous operations on targets. The invention includes several fingers, and the fingers include relatively rotatable distal end, middle finger end, proximal finger end, and rotating joints between the far finger end and the middle finger end, and between the middle finger end and the proximal finger end. The rotating connection has a ball joint; the driving part is a telescopically movable pneumatic muscle and a sliding shaft fixedly connected to the pneumatic muscle; and the transmission part includes several groups of driving tendons and ropes for finger rotation and recovery. One end of the recovery tendon rope, the driving tendon rope and the recovery tendon rope are fixedly connected on the slide shaft. It can make joint drive more flexible, reduce the complexity of dexterous hand control, and improve the precision of dexterous hand control.

Description

technical field [0001] The present invention relates to the field of robotics, more specifically, it relates to a fully driven bionic dexterous hand based on pneumatic muscles. Background technique [0002] At present, the dexterous hand based on pneumatic muscle drive mainly adopts the underactuated driving method. Although underactuated can reduce the number of drivers and reduce the complexity of control, it also greatly reduces the weight and volume. Therefore, the underactuated hand can There are a wide range of applications. However, in some scenes that require fine manipulation, the different joints of the underactuated hand are severely coupled, and it is impossible to perform dexterous manipulation of the target object. In addition, the actuators of most dexterous hands based on pneumatic muscles are placed at the end, and the middle is driven by a tendon rope, which can reduce the weight and volume of the end effector to a certain extent, but it also adds a disadv...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/10B25J15/00B25J17/00
CPCB25J9/1075B25J9/104B25J9/10B25J15/0009B25J17/00
Inventor 鲍官军陈志培蔡世波陶志成朱李垚葛涵杨邦出
Owner ZHEJIANG UNIV OF TECH
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