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A two-degree-of-freedom joint applied to a robot dexterous hand

A technology of dexterous hands and degrees of freedom, which is applied in the direction of manipulators, program-controlled manipulators, joints, etc., can solve the problems of the dexterity of dexterous hands and other problems, and achieve the effect of ensuring constant force arm, force arm and good maneuverability

Active Publication Date: 2022-02-22
ZHEJIANG UNIV OF TECH
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  • 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

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  • A two-degree-of-freedom joint applied to a robot dexterous hand
  • A two-degree-of-freedom joint applied to a robot dexterous hand
  • A two-degree-of-freedom joint applied to a robot dexterous hand

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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 and 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 a...

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Abstract

The present invention discloses a two-degree-of-freedom joint applied to the dexterous hand of a robot, aiming to achieve two invention objectives. The first one is to solve the disadvantage of indexterity caused by under-actuated driving. The other invention The purpose is to ensure that the moment arm is constant during the movement of the joint, which is convenient for actual manipulation. The invention includes three phalanxes that can rotate relative to each other and a revolving joint that is rotatably connected between the phalanxes. The movable pulley and the auxiliary pulley, the outer sheath of the rotating joint pulley and the auxiliary pulley are provided with tendon ropes, and the fixed shaft of the tendon ropes is provided with a thread-through hole through which the tendon rope passes through the thread-through hole, and the diameter of the end of the tendon rope is larger than the thread-through hole. The dexterous hand is driven by a full-drive method, and the maneuverability is good; the force arm during the movement of the joint is constant, so that the output of the controller can work within a reasonable range.

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

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Application Information

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Patent Type & Authority Patents(China)
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