Under-actuated bionic manipulator

A manipulator and underactuated technology, applied in the direction of manipulators, auxiliary devices, chucks, etc., can solve the problems of astronauts' life safety threats, piercing space suits, etc., and achieve the effects of good adaptability, improved robustness, and simple structure

Pending Publication Date: 2021-05-07
SHANGHAI UNIVERSITY OF ELECTRIC POWER
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

When an astronaut grasps a welding object, this burr is likely to pi...

Method used

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  • Under-actuated bionic manipulator
  • Under-actuated bionic manipulator
  • Under-actuated bionic manipulator

Examples

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Embodiment

[0025] figure 1 is a three-dimensional schematic diagram of an underactuated bionic manipulator in an embodiment of the present invention.

[0026] Such as figure 1 As shown, an underactuated bionic manipulator 100 of this embodiment is used to grab workpieces during welding, including: a palm 1 and three fingers mounted on the palm 1 .

[0027] figure 2 It is a schematic diagram of the fingers of the underactuated bionic manipulator in the embodiment of the present invention.

[0028] Such as figure 1 and figure 2 As shown, the structures of the three fingers are the same, being the thumb 2 installed in the middle of the long side on one side of the palm 1, the middle finger 3 and the index finger 4 installed on the long side of the other side of the palm 1, and the thumb 2, middle finger 3 And the index finger 4 is distributed on the palm 1 in the shape of an isosceles triangle.

[0029] image 3 It is a schematic diagram of a finger containing a linear spring of an...

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PUM

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Abstract

The invention provides an under-actuated bionic manipulator. The under-actuated bionic manipulator is used for clamping workpieces in the welding process and comprises a palm and three fingers installed on the palm, wherein the three fingers are the same in structure and comprise a thumb, a middle finger and an index finger, the thumb is installed in the middle of the long edge of one side of the palm, the middle finger and the index finger are installed on the long edge of the other side of the palm, the thumb, the middle finger and the index finger are distributed on the palm in an isosceles triangle shape, each finger is divided into four sections, namely a palm connecting joint connected with the palm, a finger root joint hinged to the palm connecting joint, a finger middle joint hinged to the finger root joint and a fingertip joint hinged to the finger middle joint, and the finger root joints and the finger middle joints each are of an artiodactyla animal root bone imitating structure. The under-actuated bionic manipulator is simple in structure, reliable in grabbing and good in target object enveloping performance and self-adaptability, and robustness is greatly improved.

Description

technical field [0001] The invention belongs to the field of underactuated bionic machinery, in particular to an underactuated bionic manipulator. Background technique [0002] At present, most of the research on underactuated manipulators focuses on the way of deactuating the rope or tendon, without thinking more about the practicality of the structure from the perspective of bionics. [0003] The maintenance and assembly of outer space facilities require the use of welding technology. In the microgravity environment of space, a sharp welding burr is often left after welding. When an astronaut grasps a welding object, this burr is likely to pierce the spacesuit, and the life safety of the astronaut will be threatened. Therefore, there is a need for a device capable of solving the above-mentioned problems. Contents of the invention [0004] The present invention is made to solve the above problems, and aims to provide an underactuated bionic manipulator. [0005] The pr...

Claims

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Application Information

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IPC IPC(8): B25J15/10B25J15/00B25J15/02B23K37/04
CPCB23K37/04B25J15/0009B25J15/0266B25J15/10
Inventor 吴炳晖仇桐单键何政华吕泽昌王志洪
Owner SHANGHAI UNIVERSITY OF ELECTRIC POWER
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