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A rigid-flexible humanoid five-fingered robotic gripper

A rigid-flexible, robotic gripper technology, applied in manipulators, manufacturing tools, chucks, etc., can solve the problems of poor positioning accuracy, complicated implementation process, unacceptable, etc., and achieve a firm grip effect, high acceptance, and weight reduction. Effect

Active Publication Date: 2022-07-26
BEIJING UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] Aiming at the problems of the above-mentioned robotic claws, such as complex grasping process, poor positioning accuracy, and unacceptable to people, the present invention provides a mechanical claw that combines rigidity and flexibility, is easy to achieve stable grasping, and has precise positioning, imitating the palm of a human five-finger production method

Method used

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  • A rigid-flexible humanoid five-fingered robotic gripper
  • A rigid-flexible humanoid five-fingered robotic gripper
  • A rigid-flexible humanoid five-fingered robotic gripper

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Embodiment Construction

[0023] In order to make the objectives, technical solutions and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention, but not to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0024] like figure 1 , figure 2 , image 3 and Figure 4 As shown, a rigid-flexible human-like five-fingered manipulator is designed to include a bionic knuckle (1), a rigid silk-driven joint (2), a bionic palm (4), and the bionic knuckle (1) includes a flexible finger distal segment ( 5), conformal air bag (6), pressurized air bag (7), flexible finger middle segment (8), middle segment rigid p...

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Abstract

The invention discloses a rigid-flexible humanoid five-finger manipulator. The manipulator comprises bionic knuckles, rigid silk-driven joints, and bionic palms. The bionic knuckles comprise flexible finger distal segments, conformal airbags, pressurized airbags, flexible Middle finger, middle rigid phalanx, rigid wire drive joint includes bolt shaft, return spring, wire rope, cable coil, proximal rigid phalanx, middle rigid phalanx, bionic palm includes generative design metacarpal, replaceable rigid outer palm noodle. The mechanism of the invention has a high degree of integration. By adopting the structural characteristics of rigid-flexible combination, the technical characteristics of stable gripping of the soft robot hand and high positioning accuracy of the rigid manipulator can be stably grasped and gripped by objects with uncertain shapes, and can simulate the human palm. The vast majority of gestures, with high fidelity and flexibility, are suitable for a variety of occasions, helping people to accurately and precisely complete the same work as human hands.

Description

technical field [0001] The invention relates to a master-slave manipulator, that is, a control unit and a controlled unit jointly complete the corresponding space movement, and relates to the design of a rigid-flexible human-like five-finger manipulator. Background technique [0002] Since the advent of manipulators, it can provide indispensable help to human beings in many fields. Rigid manipulators are used in special operations due to their high positioning and repeated positioning accuracy, but traditional rigid manipulators require extremely complex processes to precisely control the hardware to ensure the success and stability of grasping objects and reduce the damage to objects caused by the grasping process. . [0003] Although the flexible manipulators emerging in recent years have a stronger ability to hold irregular objects stably, it is still difficult to achieve the same level of positioning accuracy as the rigid manipulators in terms of positioning accuracy. ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J15/00
CPCB25J15/0009
Inventor 王建华高孟玄窦筝石春阳吴桐赵永胜
Owner BEIJING UNIV OF TECH
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