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Three-finger dexterous hand based on full-drive fingers

A dexterous hand and full-drive technology, applied in the field of robotics, can solve problems such as reducing the reachable space of fingers

Inactive Publication Date: 2021-02-26
NORTHEASTERN UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Among them, the underactuated dexterous hand is widely used in robot grasping and receiving due to its simple control. Although this driving method is simple in control, it reduces the reachable space of each finger. For example, the three-finger dexterous hand of Barrett Company has only 4 free fingers. Spend

Method used

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  • Three-finger dexterous hand based on full-drive fingers
  • Three-finger dexterous hand based on full-drive fingers
  • Three-finger dexterous hand based on full-drive fingers

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Embodiment Construction

[0036] In order to further explain the technical solution of the present invention, the present invention will be described in detail below in conjunction with the accompanying drawings.

[0037] Such as Figure 1-Figure 12 As shown, a three-finger dexterous hand based on fully driven fingers mainly includes a base assembly 1, a fixed finger seat assembly 2, a finger middle link assembly 3, a finger end link assembly 4, and a movable finger seat assembly 5. The base assembly 1 includes a 693ZZ bearing 101, a long copper column 102, a motor drive circuit board 103, a short copper column 104, a main control circuit board 105, a base lower shell 106, a base upper shell 107, and an encoder Geared motor 108, geared motor bracket 109, 0.5 mold 16-tooth spur gear 110, gear bearing support plate 111, 693ZZ bearing 112, 3mm diameter shaft A113, 0.5 mold 18-tooth bevel gear 114, 0.5 mold 80-tooth spur gear 115, 693ZZ Bearing 116, gear bearing seat 117, 3mm diameter shaft B118; fixed f...

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PUM

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Abstract

The invention belongs to the field of robots, and particularly relates to a three-finger dexterous hand based on full-drive fingers. The three-finger dexterous hand comprises a base assembly, a fixedfinger base assembly, a finger middle connecting rod assembly, a finger tail end connecting rod assembly and two movable finger base assemblies. The base assembly is used for supporting the fixed finger base assembly and the movable finger base assembly and providing power for rotation of the two movable finger base assemblies at the same time. The three-finger dexterous hand based on the full-drive fingers is flexible in structure, easy to control, high in position precision and good in stability, all fingertips have larger reachable space, position control and torque control grabbing can beachieved according to instructions, and the grabbing stability of objects of complex structures is improved.

Description

technical field [0001] The invention belongs to the field of robots, in particular to a three-fingered dexterous hand based on fully driven fingers. Background technique [0002] Robotic grasping is an important research direction in the field of robotics. Robotic grasping technology is widely used in material sorting, parts assembly and other occasions. In order to achieve high-precision and high-robust grasping, the dexterous hand hardware first needs to meet the usage requirements. At present, two-finger grippers are mostly used in the field of grasping. This type of dexterous hand has a better grasping effect on objects with regular shapes, but the grasping effect on objects with more complex structures is not good. Using a three-finger dexterous hand can Grasp objects with more complex shapes. [0003] At present, the three-finger dexterous hand includes two driving modes: full drive and under drive. Among them, the underactuated dexterous hand is widely used in robo...

Claims

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Application Information

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IPC IPC(8): B25J15/10
CPCB25J15/10
Inventor 程红太田忠来
Owner NORTHEASTERN UNIV
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