Bionic tension and compression body two degrees of freedom mechanical wrist

Abstract

A two-degree-of-freedom mechanical wrist with bionic tension and compression body, including the distal arm, wrist and palm; the 3D printed skeleton is connected by 21 braided artificial ligaments to form a bionic mechanical wrist composed of the radiocarpal joint and the middle wrist joint, which is responsible for The 7 ligaments constraining the range of motion of the wrist joint are adjustable in length, and are driven by motors through 4 artificial tendons to achieve extension, flexion, abduction and adduction. The mechanical wrist can imitate the two degrees of freedom of the human wrist, and both of them are actively driven, which realizes the mobility and flexibility close to the human wrist, and has high safety. The movement of the wrist bone can further improve the output torque and output torque of the wrist joint. speed.

Description

technical field [0001] The invention relates to the technical field of bionic robots, in particular to a highly flexible bionic tension-compression two-degree-of-freedom mechanical wrist based on the human skeletal muscle system. Background technique [0002] In recent decades, in order to simulate the functions of human hands, many research institutions at home and abroad have achieved outstanding results in the design and control of humanoid manipulators. However, for the mechanical wrists closely related to the performance of the manipulator, many of them adopt a simple serial pin design, which cannot achieve the mobility and flexibility close to the human wrist. Contents of the invention [0003] In order to solve the above existing problems, the present invention proposes a two-degree-of-freedom mechanical wrist of a bionic tension-compression body. [0004] A bionic tension-compression two-degree-of-freedom mechanical wrist, consisting of a distal arm, wrist and pal...

AI Technical Summary

Problems solved by technology

However, for the mechanical wrists that are closely related to the performance of the manipulator, many of them adopt a simple serial pin design, which cannot achieve the mobility and flexibility close to the human wrist.

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