Variable-rigidity single-finger skeleton of rigid-flexible coupling dexterous hand

Abstract

The rigidity-variable single-finger skeleton of the rigid-flexible coupling dexterous hand comprises a fingertip, a middle knuckle and a tail knuckle, the middle knuckle is movably connected with the fingertip through a joint, and the middle knuckle is movably connected with the tail knuckle through a joint; each joint comprises a shell, an air bag arranged in the shell and a set of rotating bosses which penetrate through the wall of the shell and are coaxially arranged; the rotating bosses can move along the axis; one of the middle knuckle and the fingertip which are connected with each other is rotationally connected with the rotating bosses, and one of the middle knuckle and the tail knuckle which are connected with each other is rotationally connected with the rotating bosses; each shell is provided with a pipe opening into which an air pipe for inflating the corresponding air bag extends; and when the air bags expand, the outer walls of the air bags abut against one ends of the rotating bosses to drive the rotating bosses to move towards the two sides along the axis, and the other ends of the rotating bosses abut against the fingertip, the middle knuckle or the tail knuckle. The rigidity of soft robot finger joints can be quickly and efficiently changed, and fingers can be better attached to an object and grasp a vulnerable object better.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a rigid-flexible coupled dexterous hand with variable stiffness single-finger skeleton. Background technique [0002] As early as more than half a century ago, the first industrial robot has come out, and the research system on rigid robot has become very mature. The application of robots has achieved comprehensive development and promotion in industry. With the development of science and technology and the improvement of living standards, we hope that the application and promotion of robots will not only be applied in the industrial field but also enter into life and get more practical applications. But there are still some problems. For example, the interaction of rigid-body robots is not strong at present, and the driving form is relatively simple. Most of them are driven by motors. Such a driving method will cause a large inertia during the movement process. We want to solve...

AI Technical Summary

Problems solved by technology

In this scheme, each finger joint has flexible bending ability, but the stiffness of the finger joint cannot be changed quickly

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