Two-degree-of-freedom joint applied to dexterous hand of robot
A dexterous hand and degree of freedom technology, applied in the directions of manipulators, program-controlled manipulators, chucks, etc., can solve the problem of decreased dexterity of the dexterous hand, achieve good maneuverability, and achieve the effect of no coupling
Active Publication Date: 2020-07-14
ZHEJIANG UNIV OF TECH
View PDF9 Cites 1 Cited by
- Summary
- Abstract
- Description
- Claims
- Application Information
AI Technical Summary
Problems solved by technology
It has an underactuated approach to joint, with reduced dexterity of the dexterous hand
Method used
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View moreImage
Smart Image Click on the blue labels to locate them in the text.
Smart ImageViewing Examples
Examples
Experimental program
Comparison scheme
Effect test
Embodiment
[0026] A two-degree-of-freedom joint applied to a robot dexterous hand, such as figure 1 As shown, it includes three knuckles 1 that can rotate relative to each other and two rotating joints 2 that are rotatably connected between two knuckles 1. The knuckles 1 are formed by combining two symmetrical components. These two components are formed by three The fixing holes provided on it are fixedly connected with the corresponding screws. There are two oppositely arranged grooves 3 at the hinge joint between the upper phalanx 1 and the lower phalanx 1 of two connected knuckles 1, and these two grooves 3 are for reducing the distance between the two knuckles 1. The contact area reduces friction, and the two grooves 3 can store lubricating oil to reduce wear. Such as figure 2 with 3 As shown, the rotary joint 2 includes a tendon rope fixed shaft 4 connected to the knuckle 1 away from the root of the dexterous hand, and the knuckle 1 adjacent to the knuckle 1 below the knuckle 1 ...
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More PUM
Login to View More Abstract
The invention discloses a two-degree-of-freedom joint applied to a dexterous hand of a robot. The two-degree-of-freedom joint aims to achieve two invention purposes, the first invention purpose is toovercome the defect that an existing under-actuated mode for driving is not dexterous; and the other invention purpose is to ensure that the force arm of the joint is constant in a movement process, and actual control is facilitated. The two-degree-of-freedom joint comprises three knuckles capable of rotating relatively and rotating joints rotationally connected among the knuckles. Each rotating joint comprises a tendon rope fixing shaft, and a rotating pulley and an auxiliary pulley are rotationally connected to the adjacent knuckle below the knuckle away from the root of the dexterous hand.A tendon rope is arranged on the outer sides of the pulley and the auxiliary pulley of each rotating joint in a sleeving manner. A wire passing hole is formed in each tendon rope fixing shaft, each tendon rope passes through the corresponding wire passing hole, and the diameter of an end of each tendon rope is larger than that of the corresponding wire passing hole. The dexterous hand is driven ina full-driving mode, and the maneuverability is good; and the force arm of the joint is constant in the movement process, and thus, the output quantity of a controller works within a reasonable interval.
Description
technical field [0001] The invention relates to the field of robotics, especially the field of robotic dexterous hands. Background technique [0002] At present, the dexterous hand with tendon drive is mainly under-actuated, that is, multiple joints are driven by one driver. Although the underactuated driving method can reduce the number of drivers, since multiple joints are driven by a single driver, there are certain coupling problems between the motions of multiple joints, which reduces the dexterity of the dexterous hand. If you set up a driver for each joint, there may still be unavoidable coupling problems between joints and joint motions. The coupling of drives between joints will lead to adverse effects such as increased complexity of the control system, decreased accuracy, and even cause non-target joint motion. [0003] Chinese Patent Publication No. CN109745157A, titled "a multi-joint bionic dexterous tendon-driven prosthetic hand", the application discloses a m...
Claims
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More Application Information
Patent Timeline
Login to View More IPC IPC(8): B25J17/00B25J15/00B25J9/10
CPCB25J17/00B25J15/0009B25J9/102B25J9/104
Inventor 陶志成陈志培杨邦出葛涵朱李垚鲍官军
Owner ZHEJIANG UNIV OF TECH