Modularized three-degree-of-freedom tendon rope transmission humanoid dexterous mechanical finger and control method

Abstract

The invention provides a modularized three-degree-of-freedom tendon rope transmission humanoid dexterous mechanical finger and a control method. The mechanical finger comprises an interphalangeal joint, a base joint, a testing module, a driving module and a driving tendon rope driven by the driving module, wherein the driving tendon rope is used for driving the interphalangeal joint to bend and unfold and the base joint to bend, unfold and swing laterally, and the testing module is used for testing the pitching moment of the interphalangeal joint and the pitching moment and the side-sway moment of the base joint. According to the modularized three-degree-of-freedom tendon rope transmission humanoid dexterous mechanical finger and the control method, under the condition that fingertip loadsare enough, it is guaranteed that the flexibility of the finger is similar to that of fingers of a human hand, and motors can be arranged in a metacarpal bone part of the finger in a centralized mode, so that long-distance tendon rope transmission is achieved; and meanwhile, the structure of the finger is designed to be modularized, so that assembling and maintaining are simplified.

Description

technical field [0001] The invention belongs to the technical field of bionic robots, and in particular relates to a modular three-degree-of-freedom tendon rope transmission humanoid dexterous mechanical finger and a control method. Background technique [0002] As a multifunctional end-effector for robots, the dexterous hand has the advantages of strong flexibility and a wide range of applicable tasks. As the execution unit of the robot gripper, the finger has an important influence on the gripper due to its dexterity, reliability and volume. [0003] Although there are many researches on human-imitating dexterous hands at home and abroad, they are generally aimed at operating activities in general environments. For some extreme special environments such as high and low temperature, high radiation, etc., the design of dexterous hands needs special consideration, such as the centralized arrangement of electronic systems, which is conducive to the realization of protective m...

AI Technical Summary

Problems solved by technology

[0004] The existing multi-degree-of-freedom dexterous hand generally integrates the hand and the forearm, and the driver is arranged in the forearm, which leads to a large size of the dexterous hand and limits the scope of use; at the same time, the transmission link is more complicated, and the assembly and maintenance are more cumbersome

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