Under-actuated dexterous hand with bifurcated palm and coaxial rotating wrist

Abstract

The invention discloses an under-actuated dexterous hand with a bifurcated palm and a coaxial rotating wrist. The under-actuated dexterous hand comprises five under-actuated fingers, the bifurcated palm and the coaxial rotating wrist, the under-actuated structure realizes the motion coupling of three knuckles, through driving of a DC deceleration motor at the root of each finger, the thumb realizes the motion coupling of the upper and middle knuckles through the under-actuated structure, and the lower knuckle is driven by a separate motor to realize the opposition motion of the thumb; and theinitial opening and closing angle of the palm is determined by a cylindrical spiral spring and an initial steel wire between two spring fixing seats between every two fingers, in the process of grasping, the opening and closing angle of the palm is controlled by two traction steel wires corresponding to each finger, one end of each steel wire is connected with the root of the corresponding finger,the middle of each steel wire is connected with the root of the corresponding finger through a wire wheel, the other end of each steel wire is connected with a driving motor, and the coaxial rotatingwrist achieves the perpendicular intersection of the rotation axes of the two-degree-motion wrist through gear driving. The under-actuated dexterous hand has the advantages of being high in flexibility and high in controllability and reliability of finger extension and flexion movement and separation and closing movement.

Description

Technical field [0001] The invention relates to a human-like dexterous hand, in particular to an under-actuated dexterous hand with a bifurcated palm and a coaxially rotating wrist. Background technique [0002] With the development of science and technology and the increase of people’s demands in recent years, the robotics field is facing more and more challenges, but ordinary robot end effectors cannot adapt to changes in the shape of objects, and cannot make the surface of objects bear relatively uniform clamping force. Therefore, it is impossible to clamp and operate objects of complex shapes, different materials and sizes. In order to improve the operation ability, flexibility and rapid response ability of the robot's fingers and wrist, so that the robot can perform various complex tasks like a human hand, such as assembly operations, maintenance operations, equipment operations, and the etiquette gestures of the robot model. A dexterous hand with flexible movement and vari...

AI Technical Summary

Problems solved by technology

[0002] With the development of science and technology and the increase of people's demand in recent years, the field of robotics is facing more and more challenges, but ordinary robot end effectors cannot adapt to changes in the shape of objects, and cannot make the surface of objects bear a relatively uniform clamping force. Therefore, it is impossible to grip and manipulate objects of complex shapes, different materials and sizes

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